CN109528315B - Surgical field image control system, method, computer device and storage medium - Google Patents
Surgical field image control system, method, computer device and storage medium Download PDFInfo
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Abstract
The application provides a surgical field image control system, a surgical field image control method, computer equipment and a storage medium, wherein a processor of the system is used for determining a rotation control instruction, and sending the rotation control instruction to a driving controller so as to enable the driving controller to drive a motor to drive a lens to rotate, and an image collected by the rotated lens is used as an image to be displayed; or the processor is used for rotating the image collected by the lens according to the rotation control instruction to obtain an image to be displayed; the output interface is used for outputting an image to be displayed; when the image to be displayed is displayed in the display device, the preset reference object in the image to be displayed is located at the preset target position, and the preset corresponding relation is kept between the preset target position and the display base line of the display device. The operation field image rotation control process does not need manual intervention, has higher automation degree, improves the efficiency and the reliability of operation field image adjustment, and is convenient for applying the operation field image to research and study.
Description
Technical Field
The present application relates to the field of medical device technology, and in particular, to a surgical field image control system, method, computer device, and storage medium.
Background
In order to increase the medical level and the service level of medical care personnel, a surgical field image acquisition device is usually used for acquiring images during the operation process, and the images are used for clinical analysis, demonstration teaching and the like. However, the shooting angle of the operative field image acquisition equipment during image acquisition is inconsistent with the visual angle of the doctor, so that the viewing effect influenced by the operative field is influenced.
In the traditional technology, the operation field image acquisition equipment is mainly controlled through manual rotation, or the control terminal is manually operated to realize automatic control of the operation field image acquisition equipment. For example, the operation field image acquisition equipment can be installed on a rotatable structure, and medical personnel can manually adjust the rotatable structure according to the operation requirement in the operation process, thereby realizing the adjustment of the shooting angle of the operation field image acquisition equipment.
However, the control methods all need manual adjustment and rotation, the operation process is complex, the automation degree is low, and the accuracy and reliability of the adjustment result are low.
Disclosure of Invention
In view of the above, it is necessary to provide a surgical field image control system, a method, a computer device and a storage medium for improving efficiency and reliability of surgical field image adjustment.
An operation field image control system is matched with an operation lamp for use, the operation lamp is connected with a rotating mechanism through a spring arm, the system comprises operation field image acquisition equipment, a processor and an output interface, the operation field image acquisition equipment comprises a driving controller, a motor and a lens, and the output interface is used for being connected with display equipment;
the surgical field image acquisition equipment is used for acquiring images;
the processor is used for determining the current position of a preset reference object in an image, and determining to trigger rotation operation according to the current position of the preset reference object in the image and the preset target position of the preset reference object in the image;
the processor is further configured to determine a rotation control instruction, send the rotation control instruction to the driving controller, so that the driving controller drives the motor to drive the lens to rotate, and an image acquired by the rotated lens is used as an image to be displayed; or the processor is used for rotating the image acquired by the lens according to the rotation control instruction to obtain the image to be displayed;
the output interface is used for outputting the image to be displayed;
when the image to be displayed is displayed in the display device, the preset reference object in the image to be displayed is at a preset target position, and a preset corresponding relation is kept between the preset target position and a display baseline of the display device.
A surgical field image control method comprises the following steps:
acquiring an image acquired by surgical field image acquisition equipment;
determining the current position of a preset reference object in the image, and determining to trigger a rotation operation according to the current position of the preset reference object in the image and the preset target position of the preset reference object in the image;
determining a rotation control instruction, and sending the rotation control instruction to the driving controller so that the driving controller drives the motor to drive the lens to rotate, wherein an image collected by the rotated lens is used as an image to be displayed; or rotating the image collected by the lens according to the rotation control instruction to obtain the image to be displayed;
outputting the image to be displayed, wherein the image to be displayed can be displayed on a display device; when the image to be displayed is displayed in the display device, the preset reference object in the image to be displayed is at a preset target position, and a preset corresponding relation is kept between the preset target position and a display baseline of the display device.
A readable storage medium having stored thereon a computer program which, when executed by one or more processors, implements the method of any of the above.
A computer device comprising a memory and a processor, the memory having stored thereon a computer program operable on the processor, the processor implementing any of the methods described above when executing the computer program.
In the surgical field image control system, the surgical field image control method, the computer device and the storage medium, the processor can determine the rotation control instruction and send the rotation control instruction to the driving controller so that the driving controller drives the motor to drive the lens to rotate, and the image collected by the rotated lens is used as the image to be displayed; or the processor rotates the image collected by the lens according to the rotation control instruction to obtain an image to be displayed; when the image to be displayed is displayed in the display device, the preset reference object in the image to be displayed is located at the preset target position, and the preset corresponding relation is kept between the preset target position and the display base line of the display device. The operation field image rotation control process does not need manual intervention, has higher automation degree, and improves the efficiency and the reliability of operation field image adjustment. Furthermore, when the image to be displayed is displayed in the display device, the display angle of the image to be displayed is consistent with the visual angle required by the user, so that the operation field image is convenient to apply for research and study.
Drawings
FIG. 1 is a diagram of an application scenario of the surgical field image control system in one embodiment;
FIG. 2 is a diagram of an application scenario of the surgical field image control system in one embodiment;
FIG. 3 is a schematic diagram illustrating an embodiment of determining a current position of a predetermined reference object based on image recognition;
FIG. 4 is a schematic diagram illustrating an embodiment of determining a current position of a predetermined reference object based on image recognition;
FIG. 5 is a diagram illustrating an implementation of image rotation in one embodiment;
FIG. 6 is a diagram illustrating cropping of an image to be displayed, according to an embodiment;
FIG. 7 is a diagram illustrating cropping of an image to be displayed, according to an embodiment;
FIG. 8 is a diagram illustrating cropping of an image to be displayed, according to an embodiment;
FIG. 9 is a diagram illustrating cropping of an image to be displayed, according to an embodiment;
FIG. 10 is a schematic flow chart diagram of a surgical field image control method according to an embodiment;
FIG. 11 is a schematic diagram illustrating an embodiment of a process for cropping an image to be displayed;
FIG. 12 is a schematic diagram illustrating an embodiment of a process for cropping an image to be displayed;
FIG. 13 is a schematic diagram illustrating an embodiment of a process for cropping an image to be displayed;
FIG. 14 is a schematic diagram illustrating an embodiment of a process for cropping an image to be displayed;
FIG. 15 is a block diagram of a computer device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
As shown in fig. 1 and 2, the surgical system of the embodiment of the present application includes an operating bed 300, an operating lamp 100 and a surgical field image control system 200, wherein the surgical field image control system 200 may include a surgical field image acquisition device 220, a processor 210 and an output interface (not shown). The operation lamp 100 is disposed above the operation table 300, and for example, the operation lamp 100 is mounted on a ceiling above the operation table 300 through the rotation mechanism 600 and the spring arm 500. The operating lamp 100 may include a lamp panel 110 and a plurality of lamp caps 120, and the plurality of lamp caps 120 may be uniformly distributed on the lamp panel 110. Of course, in other embodiments, the light heads 120 may also be distributed on the lamp panel 110 in a non-uniform manner, and the present disclosure is not limited in this respect.
Alternatively, the surgical field image capturing device 220 is disposed on the surgical lamp, for example, the surgical field image capturing device 220 may be fixedly mounted on the lamp panel 110 of the surgical lamp 100, as shown in fig. 1. Alternatively, the operation field image collecting device 220 can also be connected to the rotating mechanism 600 through the spring arm 500, etc., i.e., the operation field image collecting device 220 can also be arranged relatively independently from the operation lamp, as shown in fig. 2. The operation bed 300 is arranged in the image collecting range of the operation field image collecting device 220, and the operation field image collecting device 220 can be arranged above the operation bed 300 and is used for collecting the operation field image or the image data such as video and the like in the operation process.
Further, the surgical field image capturing device 220 may include a lens (220 in fig. 1 is the lens), a driving controller and a motor (not shown in the figure), wherein the driving controller is connected to the motor, and the driving controller can control the motor to move. The camera lens is connected with the motor, and the motor can drive the camera lens and remove to the shooting angle of adjustment camera lens. Alternatively, the motor may be a stepping motor, a pulse motor, a pan/tilt motor, or the like, and is not limited herein. Optionally, the lens may be connected to the motor through an installation shaft, so that the motor can drive the lens to rotate along the installation shaft, thereby adjusting the shooting angle of the lens. In the embodiment of the application, the motor drives the camera lens and rotates the shooting visual angle in order to adjust the camera lens around its installation axle to the camera lens can not swing or rotate etc. for its installation component (like operating lamp etc.), and then can guarantee the stability of shooing the image.
The processor 210 is configured to determine a current position of the preset reference object in the image, and determine whether to trigger a rotation operation according to the current position of the preset reference object in the image and a preset target position of the preset reference object in the image. Alternatively, the preset reference object may be a human body (e.g., a doctor, etc.), an upper limb feature of the human body (e.g., a hand feature of the doctor, an arm feature of the doctor, etc.), a surgical instrument (e.g., a scalpel, etc.), or the like. Alternatively, the preset reference object and the preset target position of the preset reference object in the image may be determined according to an instruction input by the user, or may be pre-stored in the processor 210. For example, a user may input an instruction through an input device or the like, and the instruction may be transmitted to the processor 210 through an input interface connected to the processor 210, so as to realize setting of the preset reference object and the preset target position thereof in the image. In the embodiment of the application, the preset target position of the preset reference object in the image can be determined according to the operation visual angle of the doctor.
Further, when the current position of the preset reference object in the image is consistent with the preset target position, the processor 210 does not trigger the rotation operation. When the current position of the preset reference object in the image is not consistent with the preset target position, the processor 210 will trigger the rotation operation. Optionally, the current position of the preset reference object in the image is consistent with the preset target position, the current position of the preset reference object in the image may coincide with the preset target position, or the current position of the preset reference object in the image is located in a preset area, and the preset area is determined according to the preset target position. For example, the preset region may be a sector region formed by a deviation of the preset target position from a preset angle. For another example, the predetermined area may be a circular area determined centering on the predetermined target position. Of course, the preset area may also be other possible areas, and is not limited herein.
In an embodiment, the processor 210 is further configured to determine a rotation control instruction when a rotation operation is triggered, send the rotation control instruction to the driving controller, so that the driving controller drives the motor to drive the lens to rotate, and an image captured by the rotated lens is used as an image to be displayed. The camera lens is driven by the motor to rotate to change the shooting angle of the camera lens, so that the change of the current position of the preset reference object in the image collected by the camera lens is realized, and the preset reference object in the image collected by the camera lens is placed at the preset target position. Thereafter, the output interface may output the image to be displayed. Further, the output interface may output the image to be displayed to a display device, and the display device may be capable of displaying the image to be displayed. When the image to be displayed is displayed in the display device, the preset reference object in the image to be displayed is at a preset target position, and a preset corresponding relation is kept between the preset target position and a display baseline of the display device. Therefore, when the image to be displayed is displayed in the display equipment, the display angle of the image to be displayed is consistent with the operation visual angle of the doctor, and the operation field image is convenient to use for research and study.
Or, in another embodiment, the processor 210 is configured to perform rotation processing on the image acquired by the lens according to the rotation control instruction, so as to obtain the image to be displayed; namely, the rotation of the surgical field image is realized through a software algorithm, so that a preset reference object in the image to be displayed is placed at a preset target position. And then, the output interface is used for outputting the image to be displayed. Further, the output interface may output the image to be displayed to a display device, and the display device may be capable of displaying the image to be displayed. When the image to be displayed is displayed in the display device, the preset reference object in the image to be displayed is at a preset target position, and a preset corresponding relation is kept between the preset target position and a display baseline of the display device. Therefore, when the image to be displayed is displayed in the display equipment, the display angle of the image to be displayed is consistent with the operation visual angle of the doctor, and the operation field image is convenient to use for research and study.
Optionally, the preset corresponding relationship between the preset target position and the display baseline of the display device may be a preset included angle existing between the preset target position and the display baseline of the display device, and the like. It should be clear that the display baseline of the display device in the embodiments of the present application may be the lower boundary of the display device. Of course, the display baseline of the display device may also be a center line of the display device parallel to the lower boundary of the display device, or a center line of the left boundary, the right boundary, or the left boundary of the display device, etc., which is not limited herein. Alternatively, the display baseline may be determined by instructions entered by the user. For example, a user may input instructions via an input device, which may be communicated to processor 210 via an input interface coupled to processor 210. Of course, the display baseline may also be pre-stored in the processor 210.
The operation field image rotation control system of this application embodiment drives the camera lens through the motor automatically according to the rotation control instruction and rotates, perhaps directly rotates the image through the treater for this operation field image rotation control process need not artificial manual intervention, and degree of automation is higher, improves the efficiency and the reliability of operation field image adjustment.
Optionally, the surgical field image capturing device 220 is disposed on the surgical lamp 100, and a plurality of shielding sensors connected to the processor 210 are disposed on the surgical lamp 100, and optionally, the shielding sensors may be a photoelectric sensor, an infrared sensor, a laser sensor, or the like, and are configured to determine a current position of a preset reference object in an image. At this time, the processor 210 may determine whether to trigger the rotation operation according to the detection signal of the blocking sensor. Specifically, the processor 210 is configured to determine a current position of a preset reference object in the image according to the occlusion signal of each occlusion sensor; and if the current position of the preset reference object in the image is inconsistent with the preset target position of the preset reference object in the image, triggering the rotation operation. If the current position of the preset reference object in the image is consistent with the preset target position, the rotation operation cannot be triggered.
In the embodiment of the application, a preset position corresponding relation exists between the installation position of each shielding sensor and the current position of the preset reference object in the image. For example, the lamp panel of the surgical lamp 100 may be divided into four regions, each of which is a sector region with a central angle of 90 degrees. Four shielding sensors are arranged on the operating lamp 100 and are respectively arranged in the four fan-shaped areas. And a preset position corresponding relation is formed between the installation position of each shielding sensor and the current position of a preset reference object. The preset position corresponding relationship may be: when the occlusion sensor in the first sector area detects occlusion, that is, when the occlusion sensor in the first sector area detects a preset reference object, the current position of the preset reference object in the image may be a first position; when the shielding sensor in the second sector area detects shielding, that is, when the shielding sensor in the second sector area detects a preset reference object, the current position of the preset reference object in the image may be the second position; when the occlusion sensor in the third sector area detects occlusion, the current position of the preset reference object in the image may be a third position; when the occlusion sensor in the fourth sector area detects an occlusion, the current position of the preset reference object in the image may be the fourth position.
When a certain shielding sensor detects shielding, a sensing signal generated by the shielding sensor may have a jump phenomenon (for example, a jump from a high level to a low level), the processor 210 may determine the installation position of the shielding sensor that detects shielding according to the sensing signal transmitted by each shielding sensor, and determine the current position of the preset reference object in the image when the installation position of each shielding sensor and the current position of the preset reference object in the image have a preset position corresponding relationship. If the shielding sensor in the first sector area detects shielding, a jump phenomenon exists in the sensing signal of the shielding sensor, and no jump phenomenon exists in the sensing signals of the other three shielding sensors, and the processor can take the first position as the current position of the preset reference object in the image according to the installation position of the shielding sensor which detects shielding.
Optionally, the surgical field image acquisition device 220 is disposed on the surgical lamp 100, or the surgical field image acquisition device 220 is connected to the rotating mechanism 600 through a spring arm 500; the processor 210 is configured to, when determining a current position of a preset reference object in an image, specifically, perform feature recognition processing on the image acquired through the lens, and determine the current position of the preset reference object in the image. Alternatively, the preset reference object may be an upper limb feature of the human body (such as a hand feature of a doctor or an arm feature of the doctor, etc.) or a surgical instrument (such as a scalpel, etc.), etc. At this time, when the processor performs the feature recognition on the image, the feature recognition may be performed on the image to determine the hand feature of the doctor knife or the surgical instrument, and further determine the current position of the hand of the doctor knife in the image or the current position of the surgical instrument in the image, as shown in fig. 3. When the processor obtains the current position of the hand of the primary surgeon in the image or the current position of the surgical instrument in the image through image recognition, the position of the primary surgeon relative to the operating table can be determined, so that the operation visual angle of the primary surgeon can be determined according to the relative position of the primary surgeon relative to the operating table, the preset target position of the hand of the primary surgeon or the surgical instrument in the image is determined according to the operation visual angle of the primary surgeon, when the image is displayed on the display device, the observation visual angle of the displayed image is basically consistent with the operation visual angle of the primary surgeon by a user, and the research and study of the surgical field image are facilitated.
Further, the preset reference object may include two or more sub-reference objects, and at this time, the current position of the preset reference object may be determined according to the relative positions of the two or more sub-reference objects in the image. Specifically, if the preset reference object may include two sub-reference objects, and an included angle between positions of the two sub-reference objects in the image is less than or equal to 180 degrees, a center line between the positions of the two sub-reference objects in the image is obtained, and the position of the center line is taken as the current position of the preset reference.
For example, the sub-reference may be a surgical instrument, such as a scalpel. If the number of the surgical instruments is two, the positions of the two surgical instruments in the image are obtained respectively, and further, a center line between the positions of the two surgical instruments can be obtained, and the position of the center line is used as the current position of the preset reference, as shown in fig. 4.
In one embodiment, the processor 210 is further configured to determine a rotation compensation amount according to a current shooting position of the motor and a target shooting position of the motor when a rotation operation is triggered, determine a rotation control instruction for the motor according to the rotation compensation amount, and send the rotation control instruction to the driving controller, so that the driving controller drives the motor to rotate the lens to the target shooting position. In this embodiment of the application, the current shooting position of the motor may be a target shooting position set in an last adjustment period of the motor, and the position may be recorded in the memory for the processor to call. The target shooting position of the motor may be obtained according to a preset target position of a preset reference object in the image, for example, the preset target position of the preset reference object in the image has a certain corresponding relationship with the target shooting position of the motor, and the processor may obtain the target shooting position of the motor according to the preset target position of the preset reference object in the image.
Alternatively, the rotation compensation amount may be a difference between the target photographing position and the current photographing position of the motor. For example, the processor 210 may determine that the motor needs to rotate by 5 degrees according to the current shooting position and the target shooting position of the motor, and then the processor 210 may control the motor to drive the lens to rotate by 5 degrees. Further, the rotation compensation amount may be a positive value or a negative value, wherein the positive or negative value may be used to identify the rotation direction of the motor. For example, if the rotation compensation amount is positive, the motor rotates clockwise to drive the lens to rotate along the installation axis thereof in the first direction. If the rotation compensation amount is a negative value, the motor rotates anticlockwise to drive the lens to rotate along a second direction opposite to the first direction along the installation axial direction of the lens.
In another embodiment, the processor 210 is further configured to determine a motor rotation start instruction of the surgical field image acquisition device when a rotation operation is triggered, and send the rotation start instruction to the drive controller, so that the motor rotates according to a preset rotation value until the motor moves to a target shooting position, and then stop outputting the rotation start instruction; wherein the rotation control command includes one or more rotation start commands. That is, in the embodiment of the present application, the processor 210 performs the rotation adjustment of the motor in a stepwise manner.
Specifically, the processor 210 outputs a motor rotation start instruction once, the motor rotates by a preset rotation value according to the motor rotation start instruction, and then the processor 210 determines whether the motor moves to the target photographing position according to the current photographing position and the target photographing position of the motor. If the motor moves to the target photographing position, the processor 210 stops outputting the motor rotation start instruction. If the motor does not move to the target shooting position, the processor 210 outputs a motor rotation starting instruction again, the motor continues to rotate by the preset rotation value according to the motor rotation starting instruction, and the processor 210 stops outputting the motor rotation starting instruction until the motor moves to the target shooting position.
For example, the processor 210 may determine that the motor needs to rotate by 5 degrees according to the current shooting position and the target shooting position of the motor, and the motor rotates by 1 degree for each step of movement of the motor, and the processor 210 may sequentially output 5 motor rotation start instructions, so that the motor rotates from the current shooting position to the target shooting position, and then stop outputting the motor rotation start instruction.
In one embodiment, the processor 210 is configured to determine a rotation control instruction, and perform rotation processing on the image captured by the lens according to the rotation control instruction. Specifically, the processor 210 is configured to determine a total image rotation angle according to a current position of the preset reference object in the image and a target position of the preset reference object in the image, determine the rotation control instruction according to the total image rotation angle, and perform rotation processing on the image acquired by the lens according to the rotation control instruction, so that the preset reference object in the rotated image reaches the preset target position. Alternatively, the total amount of the image rotation angle may be an included angle between the current position of the preset reference object in the image and the target position.
As shown in fig. 5, the rotation of the image is the coordinate change of each pixel point in the image, and the process of image rotation is as follows: converting the pixel point (x, y) into (x ', y'), wherein the pixel point (x, y) represents the current position of the preset reference object in the image, and the pixel point (x ', y') represents the preset target position of the preset reference object in the image; wherein a is the total amount of image rotation angles;
wherein, x' ═ x sin (a) + y cos (a); y' ═ x cos (a) + y sin (a).
In another embodiment, the processor 210 is configured to determine an image rotation starting instruction, rotate the image captured by the lens according to the image rotation starting instruction, and stop outputting the image rotation starting instruction until the preset reference object is located at the preset target position; wherein the rotation control instruction comprises more than one image rotation starting instruction. That is, in the embodiment of the present application, the processor 210 controls the rotation of the image in a step-by-step manner until the position of the preset reference object in the image reaches the preset target position.
Specifically, the processor 210 rotates the image by the preset angle value every time the processor outputs the image rotation start instruction, and updates the current position of the preset reference object in the image. Then, the processor 210 determines whether the preset reference object is at the preset target position according to the current position of the preset reference object in the image and the preset target position. If the predetermined reference object is at the predetermined target position, the processor 210 stops outputting the image rotation start command. If the preset reference object is not located at the preset target position, the processor 210 outputs the image rotation start instruction again, the processor 210 continues to rotate the image by the preset angle value, and the processor 210 stops outputting the image rotation start instruction until the preset reference object in the image is located at the preset target position.
For example, the processor 210 may determine that the image needs to be rotated by 5 degrees according to the current position and the preset target position of the preset reference object in the image, and the value of the preset angle is 1 degree, and the processor 210 may sequentially output 5 times of image rotation start instructions, so that the position of the preset reference object in the image is at the preset target position, and then stop outputting the image rotation start instructions.
As shown in fig. 5, the process of image rotation can be referred to as the coordinate transformation formula: x' ═ x sin (a) + y cos (a); y' ═ x cos (a) + y sin (a). At this time, a in fig. 5 may be used to represent a preset angle value, and after the processor 210 controls the image to rotate by the preset angle value a, the processor 210 may determine whether the preset reference object in the image is located at the preset target position. And if so, stopping continuously rotating the image to obtain the image to be displayed. If not, the processor 210 may rotate the image by the preset angle value a again until the preset reference object in the image is at the preset target position, so as to obtain the image to be displayed.
Alternatively, the processor 210 may determine to select to control the motor to obtain the image to be displayed or to control the image rotation to obtain the image to be displayed according to a preset priority. Wherein the preset priority may be preset and stored in the processor 210. Of course, the preset priority can also be determined according to the image acquired by the surgical field image acquisition equipment. For example, the processor 210 may perform image recognition on an image captured by the surgical field image capturing device, and if a preset reference object (such as a hand feature of a human body or a surgical instrument) can be recognized in the image, determine that the priority of the scheme for controlling the rotation of the image is greater than the priority of the scheme for controlling the rotation of the motor. That is, if a preset reference object (such as a hand feature of a human body or a surgical instrument) can be identified in the image, the processor 210 preferentially performs rotation processing on the image acquired by the lens according to the rotation control instruction to obtain an image to be displayed.
As a further improvement, when the image to be displayed is displayed on the display device 400, in order to ensure that the size of the image to be displayed matches the size of the display area of the display device 400, the image to be displayed may be further subjected to operations such as cropping and scaling. Meanwhile, in order to ensure that the image to be displayed conforms to the conventional watching habit of the user, the image to be displayed can be rotated for the second time. Specifically, the processor 210 may adjust the image to be displayed according to the size of the display area of the display device and an included angle between the preset reference object and the display baseline of the display device; and the output interface is used for outputting the image to be displayed after the cutting processing. Specifically, the image to be displayed subjected to the clipping processing can be transmitted to the display device 400 through the output interface, and the display device 400 can display the image to be displayed subjected to the clipping processing.
Optionally, the processor 210 is configured to, when an included angle between the image to be displayed and the display baseline of the display device is 0 degree or 180 degrees, adjust the size of the image to be displayed according to the size of the display area of the display device, so that the size of the image to be displayed is consistent with the size of the display area of the display device.
For example, as shown in fig. 6(a), when the included angle between the image to be displayed and the display baseline of the display device is 0 degree, if the size of the image to be displayed is larger than the size of the display area of the display device, the display image may be cropped so that the size of the image to be displayed is consistent with the size of the display area of the display device. If the size of the image to be displayed is smaller than the size of the display area of the display device, the image to be displayed may be enlarged so that the size of the image to be displayed is consistent with the size of the display area of the display device.
As shown in fig. 6(b), when the included angle between the image to be displayed and the display baseline of the display device is 180 degrees, at this time, the processor 210 may adjust the size of the image to be displayed according to the size of the display area of the display device after rotating the image to be displayed again by 180 degrees, so that the size of the image to be displayed is consistent with the size of the display area of the display device. The processor 210 may perform 180-degree rotation processing on the image to be displayed first, and then adjust the size of the image to be displayed. Of course, the processor 210 may also adjust the size of the image to be displayed first, and then perform 180-degree rotation processing on the image to be displayed. In the embodiment of the present application, the process of adjusting the size of the image to be displayed may be referred to the description in the above embodiments.
Optionally, the processor 210 is configured to, when an included angle between the image to be displayed and a display baseline of the display device is an acute angle or an obtuse angle, keep a center of the image to be displayed unchanged, and adjust a diagonal length of the image to be displayed to be smaller than or equal to a size of a narrowest portion of a display area of the display device; amplifying the adjusted image to be displayed so that the adjusted image to be displayed covers the display area of the display equipment; and cutting the adjusted image to be displayed according to the size of the display area of the display equipment, so that the cut image to be displayed is consistent with the size of the display area of the display equipment. In the embodiment of the application, the original resolution and definition of the image can be ensured through the cutting processing.
For example, as shown in fig. 7, the display area of the display device 400 is a rectangular area, the image to be displayed captured by the lens is also rectangular, the processor 210 may determine a length of a diagonal line of the image to be displayed according to a center point of the rectangular image, and adjust a size of the image to be displayed according to a height and a length of the rectangular display area, so that one length of the diagonal line of the image to be displayed is smaller than the length of the display area, and the other length of the diagonal line of the image to be displayed is smaller than the width of the display area. Further, the processor 210 may enlarge the image to be displayed so that the image to be displayed can cover the entire display area, i.e., so that the length of the image to be displayed is greater than or equal to the length of the display device and the width of the image to be displayed is greater than or equal to the width of the display device. Further, the processor 210 may cut the adjusted image to be displayed according to the size of the display area of the display device, so that the size of the adjusted image to be displayed is consistent with the size of the display area of the display device.
Optionally, the processor 210 is configured to, when an included angle between the image to be displayed and a display baseline of the display device is an acute angle or an obtuse angle, determine a circular area by using a size of a narrowest portion of a display area of the display device as a diameter and using a center of the image to be displayed as a center of a circle, and display the image to be displayed placed in the circular area in the display device. Therefore, due to the fact that the circular display area is selected, interference caused by rotation of the lens is avoided, the display effect of the image can be guaranteed, and the display parameters (such as display brightness or resolution ratio) after the cutting processing are consistent with the display parameters of the image before rotation.
For example, as shown in fig. 8, if an included angle between the image to be displayed and the display baseline of the display device is an acute angle or an obtuse angle, the processor 210 may determine a circular area by using the width of the rectangular display area as a diameter and the center of the image to be displayed as a center of the circle, and may use the image to be displayed placed in the circular area as the target display image. At this time, only the image within the circular area is displayed on the display device.
Optionally, the processor 210 is configured to obtain an intersection image between the image to be displayed and the display area of the display device when an included angle between the image to be displayed and the display baseline of the display device is a right angle; amplifying the intersection image so that the intersection image covers a display area of the display device; and cutting the adjusted image to be displayed according to the size of the display area of the display equipment, so that the cut image to be displayed is consistent with the size of the display area of the display equipment. In the embodiment of the application, the original resolution and definition of the image can be ensured through the cutting processing.
For example, as shown in fig. 9, if an included angle between the image to be displayed and the display baseline of the display device is a right angle (90 degrees or 270 degrees), the processor 210 may obtain an intersection image between the image to be displayed and the display area of the display device (a square area in the figure is an identification intersection image). Thereafter, the processor 210 may enlarge the intersection image such that the intersection image is capable of displaying a display area of the display device, i.e., such that a length of the intersection image is greater than or equal to a length of the display device and a width of the intersection image is greater than or equal to a width of the display device. Finally, the processor 210 may crop the enlarged intersection image such that the size of the cropped display image is consistent with the size of the display area of the display device.
It should be clear that, in the embodiment of the present application, the size of the image to be displayed is consistent with the size of the display area of the display device, that is, the size of the image to be displayed is equal to the size of the display area of the display device, that is, the width of the image to be displayed is equal to the width of the display device, and the length of the image to be displayed is equal to the length of the display device. Of course, the consistent size may also mean that the size of the image to be displayed is within a preset size range, and the preset size range is determined by the size of the display area of the display device and a preset size deviation value. That is, the size of the image to be displayed may be slightly larger than the size of the display area of the display device, or may be slightly smaller than the size of the display area of the display device.
As shown in fig. 10, the embodiment of the present application further provides a surgical field image control method, which is used in the above-mentioned surgical field image control method to improve the efficiency and reliability of the surgical field image adjustment. Specifically, the method comprises the following steps:
s100, acquiring an image acquired by surgical field image acquisition equipment;
s200, determining the current position of a preset reference object in the image, and determining to trigger rotation operation according to the current position of the preset reference object in the image and the preset target position of the preset reference object in the image;
s300, determining a rotation control instruction, and sending the rotation control instruction to the driving controller so that the driving controller drives the motor to drive the lens to rotate, wherein an image collected by the rotated lens is used as an image to be displayed; or rotating the image collected by the lens according to the rotation control instruction to obtain the image to be displayed;
s400, outputting the image to be displayed, wherein the image to be displayed can be displayed on a display device; when the image to be displayed is displayed in the display device, the preset reference object in the image to be displayed is at a preset target position, and a preset corresponding relation is kept between the preset target position and a display baseline of the display device.
Optionally, the surgical field image capturing device is disposed on the surgical lamp, the surgical lamp is provided with a plurality of shielding sensors connected to the processor, and the step of determining the current position of the preset reference object in the image in the step S200 includes:
and determining the current position of the preset reference object in the image according to the shielding signals of the shielding sensors.
Optionally, the surgical field image acquisition device is arranged on the surgical lamp, or the surgical field image acquisition device is connected to the rotating mechanism through a spring arm; the step of determining the current position of the preset reference object in the image in the step S200 includes:
and carrying out feature recognition processing on the image acquired by the lens, and determining the current position of the preset reference object in the image.
Optionally, the step S300 may include:
determining a rotation compensation amount according to the current shooting position of the motor and the target shooting position of the motor, determining a rotation control instruction for the motor according to the rotation compensation amount, and sending the rotation control instruction to the driving controller so that the driving controller drives the motor to drive the lens to rotate to the target shooting position.
Optionally, the step S300 may include:
determining a motor rotation starting instruction of the surgical field image acquisition equipment, and sending the rotation starting instruction to the drive controller so as to enable the motor to rotate according to a preset rotation value until the motor moves to a target shooting position, and stopping outputting the rotation starting instruction; wherein the rotation control command includes one or more rotation start commands.
Optionally, in the step S300, the step of determining the rotation control instruction and performing rotation processing on the image captured by the lens according to the rotation control instruction includes:
determining the total amount of the rotation angle of the image according to the current position of the preset reference object in the image and the target position of the preset reference object in the image, determining the rotation control instruction according to the total amount of the rotation angle of the image, and performing rotation processing on the image acquired by the lens according to the rotation control instruction so as to enable the preset reference object in the rotated image to reach the preset target position.
Optionally, in the step S300, the step of determining the rotation control instruction and performing rotation processing on the image captured by the lens according to the rotation control instruction includes:
determining an image rotation starting instruction, rotating the image acquired by the lens according to the image rotation starting instruction until the preset reference object is located at the preset target position, and stopping outputting the image rotation starting instruction;
wherein the rotation control instruction comprises more than one image rotation starting instruction.
Optionally, as shown in fig. 11, the method further includes:
s500, according to the size of the display equipment, cutting the image to be displayed;
s600, outputting the cut image to be displayed through the output interface, wherein the cut image to be displayed can be displayed on a display device.
Optionally, the step of performing cropping processing on the image to be displayed according to the size of the display device includes:
when the included angle between the image to be displayed and the display baseline of the display equipment is 0 degree or 180 degrees, the size of the image to be displayed is adjusted according to the size of the display area of the display equipment, so that the size of the image to be displayed is consistent with the size of the display area of the display equipment.
Optionally, as shown in fig. 12, the step S500 further includes:
s510, when an included angle between the image to be displayed and a display base line of the display equipment is an acute angle or an obtuse angle, keeping the center of the image to be displayed unchanged, and adjusting the length of a diagonal line of the image to be displayed to be smaller than or equal to the size of the narrowest position of a display area of the display equipment;
s511, amplifying the adjusted image to be displayed so that the adjusted image to be displayed covers the display area of the display device;
s512, according to the size of the display area of the display device, the adjusted image to be displayed is cut, and the cut image to be displayed is enabled to be consistent with the size of the display area of the display device.
Optionally, as shown in fig. 13, the step S500 further includes:
s520, when an included angle between the image to be displayed and a display base line of the display equipment is an acute angle or an obtuse angle, the size of the narrowest position of a display area of the display equipment is used as a diameter, and the center of the image to be displayed is used as a circle center to determine a circular area;
s521, displaying the image to be displayed in the circular area in the display device.
Optionally, as shown in fig. 14, the step S500 further includes:
s530, when an included angle between the image to be displayed and a display baseline of the display equipment is a right angle, obtaining an intersection image between the image to be displayed and a display area of the display equipment;
s531, amplifying the intersection image to enable the intersection image to cover a display area of the display device;
s532, according to the size of the display area of the display device, the adjusted image to be displayed is cut, and the cut image to be displayed is enabled to be consistent with the size of the display area of the display device.
Optionally, the method further includes:
the input interface is used for receiving user instructions;
and determining a preset reference object, a display base line and/or a preset target position of the preset reference object according to the user instruction.
It should be clear that, the implementation process of each step in the method of the embodiment of the present application is consistent with the working principle of the surgical field image control system, and specific reference may be made to the above description, which is not repeated herein.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
Embodiments of the present application also provide a storable medium having stored thereon a computer program that, when executed by one or more processors, performs the steps of any of the methods described above. In particular, the computer program, when executed by a processor, implements the steps of:
acquiring an image acquired by surgical field image acquisition equipment;
determining the current position of a preset reference object in the image, and determining to trigger a rotation operation according to the current position of the preset reference object in the image and the preset target position of the preset reference object in the image;
determining a rotation control instruction, and sending the rotation control instruction to the driving controller so that the driving controller drives the motor to drive the lens to rotate, wherein an image collected by the rotated lens is used as an image to be displayed; or rotating the image collected by the lens according to the rotation control instruction to obtain the image to be displayed;
outputting the image to be displayed, wherein the image to be displayed can be displayed on a display device; when the image to be displayed is displayed in the display device, the preset reference object in the image to be displayed is at a preset target position, and a preset corresponding relation is kept between the preset target position and a display baseline of the display device.
It should be clear that, the implementation process of each step of the embodiments of the present application, consistent with the implementation process of the above method, may specifically refer to the description above.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 15. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a surgical field image acquisition method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like. Specifically, when the processor executes the computer program, the following steps are implemented:
acquiring an image acquired by surgical field image acquisition equipment;
determining the current position of a preset reference object in the image, and determining to trigger a rotation operation according to the current position of the preset reference object in the image and the preset target position of the preset reference object in the image;
determining a rotation control instruction, and sending the rotation control instruction to the driving controller so that the driving controller drives the motor to drive the lens to rotate, wherein an image collected by the rotated lens is used as an image to be displayed; or rotating the image collected by the lens according to the rotation control instruction to obtain the image to be displayed;
outputting the image to be displayed, wherein the image to be displayed can be displayed on a display device; when the image to be displayed is displayed in the display device, the preset reference object in the image to be displayed is at a preset target position, and a preset corresponding relation is kept between the preset target position and a display baseline of the display device.
It should be clear that, the implementation process of each step of the embodiments of the present application, consistent with the implementation process of the above method, may specifically refer to the description above.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (21)
1. An operation field image control system is characterized in that the system is matched with an operation lamp for use, the operation lamp is connected with a rotating mechanism through a spring arm, the system comprises operation field image acquisition equipment, a processor and an output interface, the operation field image acquisition equipment comprises a driving controller, a motor and a lens, and the output interface is used for being connected with a display device;
the surgical field image acquisition equipment is used for acquiring images in the surgical process;
the processor is used for determining the current position of a preset reference object in the image, and determining to trigger the rotation operation when the current position of the preset reference object in the image is inconsistent with the preset target position of the preset reference object in the image;
the processor is further used for determining a rotation control instruction when a rotation operation is triggered, and sending the rotation control instruction to the driving controller so that the driving controller drives the motor to drive the lens to rotate, and an image collected by the rotated lens is used as an image to be displayed; or the processor is used for rotating the image acquired by the lens according to the rotation control instruction to obtain the image to be displayed; if the processor identifies the preset reference object in the image, determining that the priority of a scheme for controlling the rotation of the image is greater than the priority of a scheme for controlling the rotation of the motor, and rotating the image according to the rotation control instruction to obtain an image to be displayed;
the output interface is used for outputting the image to be displayed;
when the image to be displayed is displayed in the display device, the preset reference object in the image to be displayed is at a preset target position, and a preset corresponding relation is kept between the preset target position and a display baseline of the display device, wherein the preset target position of the preset reference object in the image is determined according to an operation visual angle of an operator.
2. The system of claim 1, wherein the surgical field image capturing device is disposed on the surgical light, the surgical light is disposed with a plurality of occlusion sensors connected to the processor, and the processor is configured to determine a current position of a preset reference object in the image, and comprises:
the processor is used for determining the current position of the preset reference object in the image according to the shielding signals of the shielding sensors.
3. The system of claim 1, wherein the surgical field image acquisition device is disposed on the surgical light or is connected to a rotation mechanism by a spring arm; the processor, when determining the current position of the preset reference object in the image, comprises:
the processor is used for carrying out feature recognition processing on the image acquired by the lens and determining the current position of the preset reference object in the image.
4. The system according to any one of claims 1-3, wherein the processor is further configured to determine a rotation control command, and send the rotation control command to the driving controller, so that when the driving controller drives the motor to rotate the lens, the system comprises:
the processor is used for determining a rotation compensation amount according to the current shooting position of the motor and the target shooting position of the motor, determining a rotation control instruction for the motor according to the rotation compensation amount, and sending the rotation control instruction to the driving controller so that the driving controller drives the motor to drive the lens to rotate to the target shooting position.
5. The system according to any one of claims 1-3, wherein the processor is further configured to determine a rotation control command, and send the rotation control command to the driving controller, so that when the driving controller drives the motor to rotate the lens, the system comprises:
the processor is used for determining a motor rotation starting instruction of the surgical field image acquisition equipment and sending the rotation starting instruction to the drive controller so that the motor rotates according to a preset rotation value until the motor moves to a target shooting position, and then stopping outputting the rotation starting instruction; wherein the rotation control command includes one or more rotation start commands.
6. The system according to any one of claims 1 to 3, wherein the processor is configured to determine a rotation control instruction, and when performing rotation processing on the image captured by the lens according to the rotation control instruction, the system comprises:
the processor is used for determining the total amount of the rotation angle of the image according to the current position of the preset reference object in the image and the target position of the preset reference object in the image, determining the rotation control instruction according to the total amount of the rotation angle of the image, and performing rotation processing on the image acquired by the lens according to the rotation control instruction so as to enable the preset reference object in the rotated image to reach the preset target position.
7. The system according to any one of claims 1 to 3, wherein the processor is configured to determine the rotation control instruction, and when performing rotation processing on the image captured by the lens according to the rotation control instruction, the system includes:
the processor is used for determining an image rotation starting instruction, rotating the image acquired by the lens according to the image rotation starting instruction until the preset reference object is located at the preset target position, and stopping outputting the image rotation starting instruction;
wherein the rotation control instruction comprises more than one image rotation starting instruction.
8. The system according to any one of claims 1-3, wherein the processor is further configured to perform a cropping process on the image to be displayed according to a size of the display device;
when the output interface is used for outputting the image to be displayed, the method comprises the following steps:
and the output interface is used for outputting the image to be displayed after the cutting processing.
9. The system according to claim 8, wherein the processor is further configured to, when performing the cropping processing on the image to be displayed according to the size of the display device, include:
the processor is used for adjusting the size of the image to be displayed according to the size of the display area of the display equipment when the included angle between the image to be displayed and the display base line of the display equipment is 0 degree or 180 degrees, so that the size of the image to be displayed is consistent with the size of the display area of the display equipment.
10. The system according to claim 8, wherein the processor is further configured to, when performing cropping processing on the image to be displayed according to the size of the display device, further include:
the processor is used for keeping the center of the image to be displayed unchanged when an included angle between the image to be displayed and a display base line of the display equipment is an acute angle or an obtuse angle, and adjusting the length of a diagonal line of the image to be displayed to be smaller than or equal to the size of the narrowest position of a display area of the display equipment;
amplifying the adjusted image to be displayed so that the adjusted image to be displayed covers the display area of the display equipment;
and cutting the adjusted image to be displayed according to the size of the display area of the display equipment, so that the cut image to be displayed is consistent with the size of the display area of the display equipment.
11. The system according to claim 8, wherein the processor is further configured to, when performing cropping processing on the image to be displayed according to the size of the display device, further include:
the processor is used for determining a circular area by taking the size of the narrowest part of the display area of the display equipment as the diameter and taking the center of the image to be displayed as the center of a circle when the included angle between the image to be displayed and the display base line of the display equipment is an acute angle or an obtuse angle, and displaying the image to be displayed in the circular area in the display equipment.
12. The system according to claim 8, wherein the processor is further configured to, when performing cropping processing on the image to be displayed according to the size of the display device, further include:
the processor is used for obtaining an intersection image between the image to be displayed and a display area of the display equipment when an included angle between the image to be displayed and a display base line of the display equipment is a right angle;
amplifying the intersection image so that the intersection image covers a display area of the display device;
and cutting the adjusted image to be displayed according to the size of the display area of the display equipment, so that the cut image to be displayed is consistent with the size of the display area of the display equipment.
13. The system of any one of claims 1-3, further comprising an input interface coupled to the processor, the input interface configured to receive a user instruction, the processor further configured to determine a preset reference, display a baseline, and/or a preset target position of the preset reference based on the user instruction.
14. A surgical field image control method is characterized by comprising the following steps:
acquiring an image in the operation process acquired by operation field image acquisition equipment;
determining the current position of a preset reference object in the image, and determining to trigger a rotation operation when the current position of the preset reference object in the image is inconsistent with the preset target position of the preset reference object in the image;
determining a rotation control instruction when a rotation operation is triggered, sending the rotation control instruction to a driving controller so that the driving controller drives a motor to drive a lens to rotate, and taking an image acquired by the rotated lens as an image to be displayed; or rotating the image collected by the lens according to the rotation control instruction to obtain the image to be displayed; if the preset reference object is identified in the image, determining that the priority of a scheme for controlling the rotation of the image is greater than the priority of a scheme for controlling the rotation of the motor, and rotating the image according to the rotation control instruction to obtain an image to be displayed;
outputting the image to be displayed, wherein the image to be displayed can be displayed on a display device; when the image to be displayed is displayed in the display device, the preset reference object in the image to be displayed is at a preset target position, and a preset corresponding relation is kept between the preset target position and a display baseline of the display device, wherein the preset target position of the preset reference object in the image is determined according to an operation visual angle of an operator.
15. The method according to claim 14, wherein the operative field image acquisition device is disposed on an operating light having a plurality of occlusion sensors disposed thereon that are connected to a processor; the step of determining the current position of the preset reference object in the image comprises:
and determining the current position of the preset reference object in the image according to the shielding signals of the shielding sensors.
16. The method of claim 14, wherein the surgical field image acquisition device is disposed on a surgical light or is connected to a rotation mechanism by a spring arm; the step of determining the current position of the preset reference object in the image comprises the following steps:
and carrying out feature recognition processing on the image acquired by the lens, and determining the current position of the preset reference object in the image.
17. The method according to any one of claims 14-16, wherein said determining a rotation control command, and sending the rotation control command to the driving controller to make the driving controller drive the motor to rotate the lens comprises:
determining a rotation compensation amount according to the current shooting position of the motor and a target shooting position of the motor, determining a rotation control instruction for the motor according to the rotation compensation amount, and sending the rotation control instruction to the driving controller so that the driving controller drives the motor to drive the lens to rotate to the target shooting position; or,
determining a motor rotation starting instruction of the surgical field image acquisition equipment, and sending the rotation starting instruction to the drive controller so as to enable the motor to rotate according to a preset rotation value until the motor moves to a target shooting position, and stopping outputting the rotation starting instruction; wherein the rotation control command includes one or more rotation start commands.
18. The method according to any one of claims 14 to 16, wherein the step of determining a rotation control command, and performing rotation processing on the image captured by the lens according to the rotation control command, comprises:
determining the total amount of the rotation angle of the image according to the current position of the preset reference object in the image and the target position of the preset reference object in the image, determining the rotation control instruction according to the total amount of the rotation angle of the image, and performing rotation processing on the image acquired by the lens according to the rotation control instruction so as to enable the preset reference object in the rotated image to reach the preset target position; or,
determining an image rotation starting instruction, rotating the image acquired by the lens according to the image rotation starting instruction until the preset reference object is located at the preset target position, and stopping outputting the image rotation starting instruction; wherein the rotation control instruction comprises more than one image rotation starting instruction.
19. The method according to any one of claims 14-16, further comprising:
according to the size of the display equipment, cutting the image to be displayed;
and outputting the image to be displayed after the cutting processing through an output interface.
20. A computer device comprising a memory and a processor, the memory having stored thereon a computer program operable on the processor, the processor when executing the computer program implementing the method of any of claims 14-19.
21. A readable storage medium having stored thereon a computer program which, when executed by one or more processors, implements the method of any one of claims 14-19.
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| CN111800589B (en) * | 2019-04-08 | 2022-04-19 | 清华大学 | Image processing method, device and system and robot |
| CN113011418B (en) * | 2021-02-09 | 2024-02-23 | 杭州海康慧影科技有限公司 | Method, device and equipment for determining to-be-processed area in image |
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