CN110211681A - A kind of therapeutic bed remote control apparatus and method - Google Patents
A kind of therapeutic bed remote control apparatus and method Download PDFInfo
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- CN110211681A CN110211681A CN201910627289.2A CN201910627289A CN110211681A CN 110211681 A CN110211681 A CN 110211681A CN 201910627289 A CN201910627289 A CN 201910627289A CN 110211681 A CN110211681 A CN 110211681A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0012—Biomedical image inspection
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
- G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
- G16H40/67—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation
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- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20092—Interactive image processing based on input by user
- G06T2207/20104—Interactive definition of region of interest [ROI]
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Abstract
The present invention provides a kind of therapeutic bed remote control apparatus and methods, device therein includes photographing module, picture recognition module, image guidance locating module and control module, in which: the external crucible value of working as that photographing module is configured as showing on acquisition bed value display shows image；Picture recognition module be configured as to when external crucible value show image carry out image recognition with obtain therapeutic bed when external crucible value；Image guidance locating module is configured as the set-up deviation value for calling image guidance location algorithm to calculate patient, and based on the target bed value for calculating therapeutic bed when external crucible value and set-up deviation value, image guidance locating module is additionally configured to generate the therapeutic bed adjustment signal of number corresponding with target bed value and adjustment signal is supplied to control module；Control module is configured as the therapeutic bed adjustment signal of number being converted into the therapeutic bed adjustment signal of simulation and is supplied to the regulating device of therapeutic bed.The present invention realizes the remote auto control to therapeutic bed.
Description
Technical field
The present invention relates to medical field more particularly to a kind of therapeutic bed remote control apparatus and methods.
Background technique
IGPS termed image-guided radiotherapy positioning system is one of IGRT technical implementation way, using kV grades of X-ray 3 D planes
Imaging technique obtains the x-ray projection image of both direction, using the characteristics of image of patient's internal anatomy, to patient into
The position verifying of row pendulum.
For some band IGPS image guidance positioning systems and without the automatic radiotherapy apparatus system for moving bed function, existing benefit
The process of the bed control of therapeutic bed is carried out with IGPS are as follows:
Step 1 obtains set-up deviation value by IGPS；
Step 2, doctor return to therapeutic room according to deviation, and it is mobile to control therapeutic bed by handle；
Step 1 and step 2 are repeated, until set-up deviation value meets the requirement of precision.
Existing therapeutic bed bed control mode has following defects that first, set-up deviation value is mainly known by human eye
Not, due to human eye fatigue, it is easy to appear the situation of identification mistake；Therapeutic bed is easily caused to occur second, Manual operation handle is hard to tolerate
It significantly shakes, patient is impacted.
In view of defect existing for manual therapeutic bed bed control mode in the prior art, it is necessary to propose that one kind can be real
The solution of automation control is carried out, to therapeutic bed now to improve therapeutic bed control effect.
Summary of the invention
In order to achieve the above objectives, one aspect of the present invention provides a kind of therapeutic bed remote control apparatus, realizes pair
The remote auto control of therapeutic bed.The detailed technology scheme of therapeutic bed control device of the invention is as follows:
A kind of therapeutic bed remote control apparatus comprising: photographing module, picture recognition module, image guide locating module
And control module, in which:
What the photographing module was configured as showing on acquisition bed value display works as external crucible value display image, and works as by described in
External crucible value shows that image is supplied to described image identification module；
Described image identification module is configured as to described when external crucible value shows that image carries out image recognition to be treated
Bed works as external crucible value, and by described when external crucible value is supplied to described image guidance locating module；
Described image guidance locating module is configured as the set-up deviation for calling image guidance location algorithm to calculate patient
Value, and based on the target bed value for calculating therapeutic bed when external crucible value and the set-up deviation value, described image guidance positioning
Module is additionally configured to generate the therapeutic bed adjustment signal of number corresponding with the target bed value and controlling the number
It treats bed adjustment signal and is supplied to the control module；
The control module is configured as the therapeutic bed adjustment signal of number being converted into the therapeutic bed adjustment signal of simulation
And it is supplied to the regulating device of therapeutic bed, to trigger the bed of the regulating device adjustment therapeutic bed of therapeutic bed.
Further, the control module includes main control chip and the DAC chip being connected on the main control chip, ADC
Chip and display, in which: the main control chip is configured as controlling the DAC chip for the therapeutic bed adjustment by number
Signal is converted into the therapeutic bed adjustment signal of simulation；The main control chip is configured as controlling the ADC chip acquisition tune
The therapeutic bed adjustment signal for the simulation that regulating device is an actually-received simultaneously converts thereof into digital signal, and the main control chip is also matched
It is set to and the digital signal is supplied to the display；
Further, the main control chip is the single-chip microcomputer signal of model STM32, and the display is LCD liquid crystal
Show device.
Further, described image guidance locating module is through cordless communication network by the therapeutic bed adjustment signal of the number
Remotely it is sent to the control module.
Further, described image guidance locating module includes: deviations value computing unit, for calling image to guide
Location algorithm calculates the set-up deviation value of patient；When external crucible value acquiring unit, generated for obtaining described image identification module
Therapeutic bed work as external crucible value；Target bed value computing unit, for working as external crucible value and set-up deviation value calculating based on described
The target bed value of therapeutic bed out.
Second aspect of the present invention provides a kind of therapeutic bed long-range control method, and specific technical solution is as follows:
A kind of therapeutic bed long-range control method comprising:
It obtains the external crucible value of working as shown on bed value display and shows image；
To it is described when external crucible value show image carry out image recognition with obtain therapeutic bed when external crucible value；
Image guidance location algorithm is called to calculate the set-up deviation value of patient and based on described when external crucible value and the pendulum
Position deviation calculates the target bed value of therapeutic bed, and the therapeutic bed for generating number corresponding with the target bed value adjusts letter
Number；
The therapeutic bed adjustment signal of the number is converted into the therapeutic bed adjustment signal of simulation and is supplied to therapeutic bed
Regulating device, to trigger the bed of the regulating device adjustment therapeutic bed of therapeutic bed.
Further, it is described to it is described when external crucible value show image carry out image recognition with obtain therapeutic bed when external crucible value
Include:
It will be described when external crucible value shows Image Adjusting to predetermined size；
It is positioned using ROI and obtains ROI region image；
The ROI region image is identified described when external crucible value to obtain.
Therapeutic bed long-range control method and device provided by the invention realize to therapeutic bed when external crucible value automatic knowledge
Not, and based on identifying when external crucible value generates therapeutic bed adjust automatically signal, finally realize to therapeutic bed it is long-range from
Dynamic control.
Detailed description of the invention
Fig. 1 is the structural block diagram of therapeutic bed remote control apparatus of the invention in one embodiment；
Fig. 2 is the structural schematic diagram of therapeutic bed long-range control method of the invention in one embodiment.
Specific embodiment
It is discussed in detail a specific embodiment of the invention with reference to the accompanying drawing.
In the present invention, " in some embodiments " everywhere is not to refer in particular in the same embodiment, they can be
The same embodiment is also possible to different embodiments.
Fig. 1 is the structural block diagram of therapeutic bed remote control apparatus 100 of the invention in one embodiment.As shown in Figure 1,
The therapeutic bed remote control apparatus 100 on shooting bed value display by showing when external crucible value shows image to realize to working as
The automatic identification of external crucible value, and based on identifying when external crucible value generates therapeutic bed adjust automatically signal, finally realizes pair
The remote auto control of therapeutic bed.
Bed value display mentioned in the present invention is the display that therapeutic bed carries, for realizing the current of therapeutic bed
The real-time display of bed value.The bed value of therapeutic bed is generally characterized by one group of three-dimensional coordinate (a, b, c) with number display, in which: a
The coordinate value for being therapeutic bed in X-axis, b is that coordinate value, c of the therapeutic bed in Y-axis are coordinate value of the therapeutic bed on Z axis, this
The first purpose of invention is from taking when external crucible value shows that image recognition goes out the specific of three-dimensional coordinate therein (a, b, c)
Numerical value.
As shown in Figure 1, the therapeutic bed remote control apparatus 100 includes photographing module 110, picture recognition module 120, figure
As guidance locating module 130 and control module 140.
The photographing module 110 be configured as showing on shooting bed value display when external crucible value shows image, and by institute
It states when external crucible value shows that image is supplied to described image identification module 120, the photographing module 110 can use known various
The industrial camera of model.In general, photographing module 110 to be mounted on to the position of the bed value display of face therapeutic bed in therapeutic room
It sets.
Described image identification module 120 is configured as to described when external crucible value shows that image carries out image recognition to be controlled
That treats bed works as external crucible value, and by described when external crucible value is supplied to described image guidance locating module 130.
Described image recognition unit 120 can work as external crucible based on various image recognition algorithms in the prior art to identify
When external crucible value included in value display image.Due to being only shown in the specific region in image when external crucible value, know to be promoted
Other efficiency and recognition effect, in some preferred embodiments, the image identification unit 130 in the present invention is by calling ROI region
Image recognition algorithm realizes image recognition.The substantially process flow of ROI region image recognition algorithm is as follows: by collected
Two tunnels are adjusted to predetermined size when external crucible value video image；ROI region is intercepted by predetermined ratio on the image；To ROI region into
Row gray proces, threshold process are to obtain the binary image of ROI；Profile lookup is carried out to the binary image of ROI and is deleted
Some noises；Image after finally removing noise to ROI carries out segmentation up and down, and makes the ROI denoising braille after segmentation
The matching that the template in image and training library carries out similarity is accorded with, similarity meets scheduled threshold value, then carries out result output.
It should be noted that the concrete principle of each processing links involved in ROI region image recognition algorithm and algorithm are real
Existing process is known to persons skilled in the art, and and the claimed object of non-present invention, therefore this specification is not yet
It is further described again.
The pendulum position that described image guidance locating module 130 is configured as that image guidance location algorithm is called to calculate patient is inclined
Difference (i.e. the bed deviation of therapeutic bed), and based on the mesh for calculating therapeutic bed when external crucible value and the set-up deviation value
Bed value is marked, described image guidance locating module is additionally configured to generate the therapeutic bed tune of number corresponding with the target bed value
The therapeutic bed adjustment signal of the number is simultaneously supplied to the control module 140 by entire signal.Specifically, described image guidance is fixed
Position module 130 includes deviations value computing unit 131, when external crucible value acquiring unit 132 and target bed value computing unit 133.
Wherein:
The set-up deviation that the deviations value computing unit 131 is used to that image guidance location algorithm to be called to calculate patient
Value.In some embodiments, the deviations value computing unit 131 is the algorithm routine that image guides positioning device included,
It passes through the internal anatomy of patient got or the box counting algorithm of metal marker goes out the set-up deviation of patient.
It is described when external crucible value acquiring unit 132 be used for obtain described image identification module 120 generation therapeutic bed it is current
Bed value.
The target bed value computing module 133 is based on described when the set-up deviation value of external crucible value and patient calculate therapeutic bed
Target bed value.Such as: when external crucible value is (a, b, c), the set-up deviation value of patient is (△ a, △ b, △ c), then target bed value is
(a+ △ a, b+ △ b, c+ △ c).
In general, picture recognition module 120, image guidance locating module 130 be arranged in control room, the control room with control
It is mutually isolated to treat room.Preferably, for convenience of operating, described image identification module 120 and described image guide 130 quilt of locating module
It is installed in same PC machine.
The control module 140 is configured as the therapeutic bed adjustment signal of number being converted into the therapeutic bed adjustment letter of simulation
Number and be supplied to the analog input interface of therapeutic bed regulating device (such as regulation handle), to trigger the adjustment of therapeutic bed regulating device
The bed of therapeutic bed.
Please continue to refer to shown in Fig. 1, in some embodiments, the control module 140 includes main control chip 141 and connection
DAC chip 142, ADC chip 143 and display 144 on the main control chip 141, in which:
The main control chip 141 is configured as controlling the DAC chip 142 for the therapeutic bed adjustment signal by number
It is converted into the therapeutic bed adjustment signal of simulation, e.g., the therapeutic bed adjustment signal of the simulation is the electricity with predetermined waveform of 0~5V
Press signal.
The main control chip 141, which is additionally configured to control the ADC chip 143, to be acquired the regulating device and is an actually-received
Analog signal and convert thereof into digital signal, and the digital signal is supplied to the display 144, the display
144 are configured as showing the digital signal.
Preferably, the main control chip 141 is using the single-chip microcomputer signal of model STM32, and the display is using model
For the LCD liquid crystal display of LCD1602.
In general, the control module 140 is set in therapeutic room.In some embodiments, the control module 140 with
Described image guides locating module 130 to realize through wireless network and communicates.
The present invention also provides a kind of therapeutic bed long-range control method, Fig. 2 is the therapeutic bed remote control method in the present invention
The flow diagram of method 200 in one embodiment.As shown in Figure 2, the therapeutic bed long-range control method 200 includes as follows
Step:
The external crucible value of working as shown on S210, acquisition bed value display shows image；
S220, to it is described when external crucible value show image carry out image recognition with obtain therapeutic bed when external crucible value；
S230, image guidance location algorithm is called to calculate the set-up deviation value of patient and based on described when external crucible value and institute
The target bed value that set-up deviation value calculates therapeutic bed is stated, the therapeutic bed adjustment of number corresponding with the target bed value is generated
Signal；
S240, the therapeutic bed adjustment signal of the number is converted into the therapeutic bed adjustment signal of simulation and is supplied to treatment
The regulating device of bed, to trigger the bed of the regulating device adjustment therapeutic bed of therapeutic bed.
The therapeutic bed long-range control method 200 is implemented by the therapeutic bed remote control apparatus 100, due to the treatment
The technical principle of bed long-range control method 200 is consistent with the technical principle of the therapeutic bed remote control apparatus 100, therefore is being situated between
It has carried out simplified or omission for some duplicate parts when the therapeutic bed control method 20 that continues to handle, the portion for simplifying or omitting
Divide the related description that can refer to the therapeutic bed remote control apparatus 100.
The description with certain particularity detailed enough has been carried out to the present invention above.Ordinary skill in fields
Personnel are it should be understood that the description in embodiment is only exemplary, before without departing from true spirit and scope of the present invention
Put make it is all change all should belong to protection scope of the present invention.Scope of the present invention is by the power
What sharp claim was defined, rather than limited by the foregoing description in embodiment.
Claims (7)
1. a kind of therapeutic bed remote control apparatus, which is characterized in that it includes photographing module, picture recognition module, image guidance
Locating module and control module, in which:
What the photographing module was configured as showing on acquisition bed value display work as external crucible when external crucible value display image, and by described
Value shows that image is supplied to described image identification module；
Described image identification module is configured as to described when external crucible value shows that image carries out image recognition to obtain therapeutic bed
When external crucible value, and by described when external crucible value is supplied to described image guidance locating module；
Described image guidance locating module is configured as the set-up deviation value for calling image guidance location algorithm to calculate patient, and
Based on the target bed value for calculating therapeutic bed when external crucible value and the set-up deviation value, described image guides locating module also
It is configurable to generate the therapeutic bed adjustment signal of number corresponding with the target bed value and by the therapeutic bed tune of the number
Entire signal is supplied to the control module；
The control module is configured as the therapeutic bed adjustment signal of number being converted into the therapeutic bed adjustment signal of simulation and mention
The regulating device of therapeutic bed is supplied, to trigger the bed of the regulating device adjustment therapeutic bed of therapeutic bed.
2. therapeutic bed remote control apparatus as described in claim 1, it is characterised in that:
The control module includes main control chip and the DAC chip being connected on the main control chip, ADC chip and display,
Wherein:
The main control chip is configured as controlling the DAC chip and is converted into simulating by the therapeutic bed adjustment signal by number
Therapeutic bed adjustment signal；
The main control chip is additionally configured to control the ADC chip and acquires controlling for simulation that the regulating device is an actually-received
It treats bed adjustment signal and converts thereof into digital signal, the main control chip is additionally configured to the digital signal being supplied to institute
State display；
The display is configured as showing the digital signal.
3. therapeutic bed remote control apparatus as claimed in claim 2, which is characterized in that the main control chip is model
The single-chip microcomputer signal of STM32, the display are LCD liquid crystal display.
4. therapeutic bed remote control apparatus as claimed in claim 2, it is characterised in that:
Described image guides locating module that the therapeutic bed adjustment signal of the number is remotely sent to institute through cordless communication network
State control module.
5. therapeutic bed remote control apparatus as described in claim 1, which is characterized in that described image guides locating module packet
It includes:
Deviations value computing unit, for calling image guidance location algorithm to calculate the set-up deviation value of patient；
When external crucible value acquiring unit, for obtain the generation of described image identification module therapeutic bed when external crucible value；
Target bed value computing unit, for based on the target bed for calculating therapeutic bed when external crucible value and the set-up deviation value
Value.
6. a kind of therapeutic bed long-range control method, characterized in that it comprises:
It obtains the external crucible value of working as shown on bed value display and shows image；
To it is described when external crucible value show image carry out image recognition with obtain therapeutic bed when external crucible value；
Image guidance location algorithm is called to calculate the set-up deviation value of patient and based on described when external crucible value and the pendulum position are inclined
Difference calculates the target bed value of therapeutic bed, generates the therapeutic bed adjustment signal of number corresponding with the target bed value；
The therapeutic bed adjustment signal of the number is converted into the therapeutic bed adjustment signal of simulation and is supplied to the adjusting of therapeutic bed
Device, to trigger the bed of the regulating device adjustment therapeutic bed of therapeutic bed.
7. therapeutic bed long-range control method as claimed in claim 6, which is characterized in that described to scheme to described when external crucible value is shown
Include: with the external crucible value of working as obtaining therapeutic bed as carrying out image recognition
It will be described when external crucible value shows Image Adjusting to predetermined size；
It is positioned using ROI and obtains ROI region image；
The ROI region image is identified described when external crucible value to obtain.
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