CN115919422A

CN115919422A - Attitude control method and apparatus, electronic device, and storage medium

Info

Publication number: CN115919422A
Application number: CN202210922867.7A
Authority: CN
Inventors: 范恒伟; 王战; 秦世民; 毛新生
Original assignee: Shukun Shanghai Medical Technology Co ltd
Current assignee: Shukun Shanghai Medical Technology Co ltd
Priority date: 2022-08-02
Filing date: 2022-08-02
Publication date: 2023-04-07

Abstract

The application relates to the technical field of medical assistance, in particular to a posture control method and device, electronic equipment and a storage medium. The attitude control method provided by the embodiment of the application comprises the following steps: when the object to be detected is in the target body posture, acquiring a pre-detection image of a target body surface region on the object to be detected, wherein the target body surface region is provided with a reference point, and the reference point is used for indicating the puncture needle inserting position of a focus part under the target body surface region when the object to be detected is in the target body posture; acquiring a standard position of a reference point based on a pre-detection image; tracking the reference point in real time to obtain the real-time position of the reference point; and generating posture indicating information according to the real-time position and the standard position, wherein the posture indicating information is used for indicating the object to be detected to control the body posture, so that the deviation between the final position of the reference point and the standard position is within a target deviation range. The attitude control method, the device and the storage medium provided by the embodiment of the application can improve the accuracy of the puncture operation.

Description

Attitude control method and apparatus, electronic device, and storage medium

Technical Field

The invention relates to the technical field of medical assistance, in particular to a posture control method and device, electronic equipment and a storage medium.

Background

During the puncture surgery, the puncture needle is usually positioned automatically or semi-automatically to avoid damage to non-focus parts. At present, the adopted positioning mode is generally that a focus detection image of a patient is obtained firstly, and then the focus detection image is analyzed to obtain a theoretical spatial position of a focus part as a selection basis of a puncture needle inserting position.

However, during the puncture surgery, the real spatial position of the focal site is affected by the change of the body posture of the patient (for example, the movement of the limb position, the posture change or the change of the respiratory state), so that there is a deviation between the theoretical spatial position and the real spatial position, which results in the fact that the actual puncture needle position cannot correspond to the focal site, thereby affecting the accuracy of the puncture surgery.

Disclosure of Invention

The embodiment of the application provides a posture control method, device and storage medium, which can improve the accuracy of a puncture operation.

The attitude control method provided by the embodiment of the application comprises the following steps:

when an object to be detected is in a target body posture, obtaining a pre-detection image of a target body surface region on the object to be detected, wherein the target body surface region is provided with a reference point, and the reference point is used for indicating the puncture needle inserting position of a focus part under the target body surface region when the object to be detected is in the target body posture;

acquiring a standard position of a reference point based on a pre-detection image;

tracking the reference point in real time to obtain the real-time position of the reference point;

and generating posture indicating information according to the real-time position and the standard position, wherein the posture indicating information is used for indicating the object to be detected to control the body posture, so that the deviation between the final position of the reference point and the standard position is within a target deviation range.

In some embodiments, the posture indication information includes respiratory adjustment indication information, and the posture indication information is generated based on the real-time position and the standard position, including:

when each real-time position is obtained, obtaining the coordinate deviation between the real-time position and a standard position;

after obtaining the plurality of coordinate deviations, obtaining the change conditions of the plurality of coordinate deviations;

and generating respiratory adjustment indicating information based on the change condition, wherein the respiratory adjustment indicating information is used for indicating the object to be detected to adjust the respiratory state.

In some embodiments, the coordinate deviation comprises a coordinate deviation amount, the variation comprises a deviation amount difference, and acquiring a plurality of variation of the coordinate deviation comprises:

taking the coordinate deviation amount included in the first coordinate deviation as a first to-be-used deviation amount, wherein the first coordinate deviation is the coordinate deviation with the latest time in the plurality of coordinate deviations;

taking the coordinate deviation amount included in the second coordinate deviation as a second standby deviation amount, wherein the second coordinate deviation is the coordinate deviation of which the acquisition time is adjacent to the acquisition time of the first coordinate deviation in the plurality of coordinate deviations;

and acquiring a deviation difference between the first deviation to be used and the second deviation to be used.

In some embodiments, the coordinate deviation further includes a coordinate deviation direction, and the generating of the respiratory adjustment indication information based on the variation includes:

generating breathing mode indication information according to the coordinate deviation direction included in the first coordinate deviation;

generating respiratory capacity indicating information according to the magnitude relation between the first to-be-used deviation and the deviation difference;

and generating respiratory adjustment indicating information comprising respiratory mode indicating information and respiratory information indicating information.

In some embodiments, generating the breathing pattern indicator information according to the coordinate deviation direction included in the first coordinate deviation comprises:

if the coordinate deviation direction is opposite to the thoracic expansion direction of the object to be detected, generating first respiratory mode indicating information, wherein the first respiratory mode indicating information is used for indicating the inspiration of the object to be detected;

and if the coordinate deviation direction is the same as the thoracic expansion direction of the object to be detected, generating second respiratory mode indicating information, wherein the second respiratory mode indicating information is used for indicating the expiration of the object to be detected.

In some embodiments, generating the respiratory volume indication information according to a magnitude relationship between the first to-be-used deviation and the deviation difference comprises:

if the first deviation to be used is larger than the deviation difference, first respiration quantity indicating information is generated and used for indicating the to-be-detected object to increase respiration quantity;

if the first deviation to be used is equal to the deviation difference, second respiratory capacity indicating information is generated and used for indicating that the object to be detected keeps respiratory capacity;

and if the first deviation to be used is smaller than the deviation difference, generating third respiratory capacity indicating information, wherein the third respiratory capacity indicating information is used for indicating the object to be detected to reduce the respiratory capacity.

In some embodiments, the generating the attitude indicating information further includes generating attitude indicating information based on the real-time position and the standard position after acquiring the coordinate deviation between the real-time position and the standard position every time a real-time position is acquired, the attitude indicating information further including:

if the coordinate deviation amount exceeds a preset position deviation range, generating pose adjustment indicating information according to the coordinate deviation direction and the coordinate deviation amount, wherein the pose adjustment indicating information is used for indicating the to-be-detected object to adjust the body pose;

and if the coordinate deviation amount is within the preset position deviation range and exceeds the target deviation range, executing a step of acquiring the change conditions of the plurality of coordinate deviations.

In some embodiments, before obtaining the variation of the plurality of coordinate deviations, the attitude control method further includes:

acquiring first distance information between a reference point and the position of the chest of a to-be-detected object;

acquiring second distance information between the reference point and the abdominal cavity position of the object to be detected;

if the first distance information is larger than the second distance information, generating chest respiration method indicating information, wherein the chest respiration method indicating information is used for indicating the object to be detected to breathe according to the chest respiration method;

and if the first distance information is smaller than the second distance information, generating abdominal respiration method indicating information, wherein the abdominal respiration method indicating information is used for indicating the object to be detected to breathe according to the abdominal respiration method.

In some embodiments, the pose indicating information comprises pose adjustment indicating information, and generating pose indicating information according to the real-time position and the standard position comprises:

when each real-time position is obtained, acquiring the coordinate deviation between the real-time position and a standard position, wherein the coordinate deviation comprises a coordinate deviation direction and a coordinate deviation amount;

and if the coordinate deviation exceeds the target deviation range, generating pose adjustment indication information according to the coordinate deviation direction and the coordinate deviation, wherein the pose adjustment indication information is used for indicating the to-be-detected object to adjust the body pose.

In some embodiments, after generating the attitude indication information according to the real-time position and the standard position, the attitude control method further includes:

and broadcasting the posture indicating information so that the body posture of the object to be detected is controlled according to the indication of the posture indicating information, and the deviation between the final position of the reference point and the standard position is within a target deviation range.

The posture control device that this application embodiment provided includes:

the image acquisition module is used for acquiring a pre-detection image of a target body surface region on the object to be detected when the object to be detected is in the target body posture, the target body surface region is provided with a reference point, and the reference point is used for indicating the puncture needle inserting position of a focus part under the target body surface region when the object to be detected is in the target body posture;

the standard position acquisition module is used for acquiring a standard position of a reference point based on the pre-detection image;

the real-time position acquisition module is used for tracking the reference point in real time and acquiring the real-time position of the reference point;

and the indicating information generating module is used for generating posture indicating information according to the real-time position and the standard position, and the posture indicating information is used for indicating the object to be detected to control the body posture so as to enable the deviation between the final position of the reference point and the standard position to be within a target deviation range.

The electronic equipment provided by the embodiment of the application comprises a memory and a processor;

the memory stores an application program, and the processor is used for running the application program in the memory to execute the steps in any attitude control method provided by the embodiment of the application.

The method provided by the embodiment of the present application stores a plurality of instructions, and the instructions are suitable for being loaded by a processor to execute the steps in any attitude control method provided by the embodiment of the present application.

According to the embodiment of the application, when an object to be detected is in a target body posture, a pre-detection image of a target body surface area on the object to be detected is obtained, a reference point is arranged in the target body surface area and used for indicating the position of a puncture needle of a focus part under the target body surface area when the object to be detected is in the target body posture, then a standard position of the reference point is obtained based on the pre-detection image, in the subsequent puncture surgery process, the reference point is tracked in real time, the real-time position of the reference point is obtained, posture indication information is generated according to the real-time position and the standard position, and the posture indication information is used for indicating the object to be detected to control the body posture, so that the deviation between the final position of the reference point and the standard position is located in a target deviation range. That is to say, in the process of the puncture operation, posture indicating information can be generated according to the real-time position and the standard position of the reference point, and the object to be detected can control the body posture according to the posture indicating information so as to keep the consistency of the real-time body posture and the target body posture as much as possible, so that the deviation between the final position and the standard position of the reference point is within the target deviation range, thereby avoiding the situation that the actual puncture needle inserting position cannot correspond to the focus part, and improving the accuracy of the puncture operation.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1a is a schematic flowchart of an attitude control method according to an embodiment of the present application;

FIG. 1b is a diagram illustrating an auxiliary method for controlling the attitude shown in FIG. 1 a;

FIG. 1c is a diagram illustrating an auxiliary attitude control method shown in FIG. 1 a;

FIG. 1d is a diagram illustrating an auxiliary method for controlling the attitude shown in FIG. 1 a;

FIG. 1e is a diagram illustrating an auxiliary method for controlling the attitude shown in FIG. 1 a;

fig. 2 is a schematic structural block diagram of an attitude control device according to an embodiment of the present application;

fig. 3 is a schematic structural block diagram of an electronic device according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Furthermore, it is noted that relational terms such as "first," "second," "third," and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.

The embodiment of the application provides a posture control method and device, electronic equipment and a storage medium.

The posture control device can be integrated in an electronic device, and the electronic device belongs to medical auxiliary equipment and can be a computer.

In this embodiment, the electronic device may:

when the object to be detected is in the target body posture, acquiring a pre-detection image of a target body surface region on the object to be detected, wherein the target body surface region is provided with a reference point, and the reference point is used for indicating the puncture needle inserting position of a focus part under the target body surface region when the object to be detected is in the target body posture;

Referring to fig. 1a, fig. 1a is a schematic flow chart of an attitude control method according to an embodiment of the present disclosure. It should be noted that, although a logical order is shown in the flow chart diagram, in some cases, the steps shown or described may be performed in an order different from that shown or described herein. In the embodiment of the present application, the attitude control method includes step S100, step S200, step S300, and step S400, in which:

and S100, when the object to be detected is in the target body posture, acquiring a pre-detection image of a target body surface region on the object to be detected, wherein the target body surface region is provided with a reference point, and the reference point is used for indicating the puncture needle inserting position of a focus part under the target body surface region when the object to be detected is in the target body posture.

The object to be detected is a patient needing a puncture operation, and the reference point can be an optical target point with a light reflecting characteristic, and can be spherical or flaky.

Before implementing the posture control method, when the object to be detected is in the target body posture, the medical staff needs to set a reference point in a target body surface region corresponding to the focus part on the object to be detected, and the reference point is used for indicating the position of a puncture needle of the focus part under the target body surface region when the object to be detected is in the target body posture. Specifically, the medical staff may apply a reference point to the target body surface region when the object to be detected is in the target body posture according to the lesion site based on the puncture surgery experience and/or the surgical medical manual.

The target body pose may include a target body pose (position and pose) and a target breathing state.

For the determination of the target body posture, in the embodiment of the present application, as an optional implementation manner, the medical staff may determine and guide the object to be detected to adjust the body posture. Specifically, the medical staff can determine the body pose of the target according to the focus position based on the puncture operation experience and/or the operation medical manual and guide the object to be detected to adjust the body pose so as to keep consistency with the body pose of the target. The target respiration method may be a chest respiration method or an abdominal respiration method. For example, if the focal site is closer to the thoracic cavity than to the abdominal cavity, the target breathing method may be determined as the thoracic breathing method, and if the focal site is closer to the abdominal cavity than to the thoracic cavity, the target breathing method may be determined as the abdominal breathing method.

For the determination of the target body posture, in the embodiment of the present application, as another alternative implementation, it may also be automatically implemented by an electronic device. For example, the electronic device may pre-store the corresponding relationship between the plurality of body parts and the plurality of body postures, and then after determining the focus part from the plurality of body parts, the electronic device may determine a target body posture corresponding to the focus position from the plurality of body postures according to the corresponding relationship, where the target body posture and the target breathing state are included, and guide the object to be detected to adjust the body posture in a voice playing or image display manner. Taking the focus position as the lung as an example, the corresponding target body pose is 'lying on the back in the middle of the operating table', and the target breathing state is any one breathing state when breathing according to an abdominal breathing method. Taking the focus position as the lumbar vertebra as an example, the corresponding target body posture is that the patient lies on the side in the middle of an operating table, and the target breathing state is any one breathing state when breathing according to a chest breathing method.

In addition, in actual implementation, one or more reference points may be set, and this is not specifically limited in the embodiments of the present application.

After the object to be detected is in the target body posture and the reference point is set in the target body surface area on the object to be detected, a pre-detection image of the target body surface area on the object to be detected can be acquired through Computer Tomography (CT) equipment and sent to electronic equipment executing the posture control method.

Step S200, acquiring a standard position of the reference point based on the pre-detection image.

After acquiring the pre-detection image, the electronic device may acquire the standard position of the reference point based on the pre-detection image. For example, the electronic device may determine the reference point from the pre-detection image through a pre-trained reference point recognition model, and then calculate the position information of the reference point in the CT coordinate system as the standard position, which may be specifically characterized by a three-dimensional coordinate.

Wherein, the reference point identification model can be obtained by the following method:

acquiring a sample image, wherein the training sample image comprises a reference point, and the reference point is provided with a corresponding characteristic mark;

inputting the sample image into a deep learning neural network to obtain a recognition result;

obtaining a loss function of the deep learning neural network according to the characteristic marks and the recognition result, and adjusting network parameters of the deep learning neural network;

and repeatedly executing the steps until the loss function is converged, and obtaining the trained deep learning neural network as a reference point identification model.

In addition, in this embodiment, if a plurality of reference points are provided, when step S200 is executed, first position information of the plurality of reference points may be obtained and obtained, and a final standard position is obtained through fitting, or a model may be selected through a pre-trained reference point, a target reference point is selected from the plurality of reference points, and position information of the target reference point is used as the final standard position.

Step S300, tracking the reference point in real time to obtain the real-time position of the reference point.

During the puncture operation, the reference point needs to be tracked in real time to obtain the real-time position of the reference point. In practical implementation, the real-time detection image of the target body surface area can be acquired through the optical camera according to a preset time interval, and is sent to the electronic equipment executing the attitude control method. The preset time interval may be a millisecond time interval, such as 100ms, 200ms, etc.

After the electronic equipment acquires the real-time detection image, the real-time position of the reference point is acquired based on the real-time detection image. For example, the electronic device may determine the reference point from the real-time detection image through the trained reference point identification model, and then calculate position information of the reference point in the camera coordinate system, as the real-time position, which may be specifically represented by a three-dimensional coordinate.

In addition, in the embodiment of the present application, after performing step S200 and step S300, the real-time position and the standard position need to be adjusted into the same target coordinate system, for example, the standard position may be adjusted into the camera coordinate system so that the standard position and the real-time position are in the same camera coordinate system, the real-time position may be adjusted into the CT coordinate system so that the standard position and the real-time position are in the same CT coordinate system, and both the standard position and the real-time position may be adjusted into the world coordinate system so that the standard position and the real-time position are in the same world coordinate system.

In addition, in this embodiment, if a plurality of reference points are provided, in step S300, second location information of the plurality of reference points may be obtained, and a final real-time location is obtained through fitting, in which if step S200 is performed, a model is selected through a pre-trained reference point, a target reference point is selected from the plurality of reference points, the first location information of the target reference point is used as a final standard location, and in step S300, the second location information of the target reference point is used as the final real-time location.

And S400, generating posture indicating information according to the real-time position and the standard position, wherein the posture indicating information is used for indicating the object to be detected to control the body posture, so that the deviation between the final position of the reference point and the standard position is within a target deviation range.

The posture indication information may only include respiration adjustment indication information for indicating the object to be detected to adjust the respiration state, may also only include pose adjustment indication information for indicating the object to be detected to adjust the body pose, and may also include respiration adjustment indication information and pose adjustment indication information at the same time.

If the posture indicating information only includes the respiratory adjustment indicating information, before the puncture operation, the object to be detected needs to be guided to adjust the body posture so as to maintain consistency with the target body posture, and thereafter, step S400 may include step S410, step S420 and step S430 to generate the respiratory adjustment indicating information.

Step S410, acquiring a coordinate deviation between the real-time position and the standard position every time a real-time position is acquired.

The coordinate deviation may include a coordinate deviation direction and a coordinate deviation amount.

For the coordinate deviation direction, in the embodiment of the present application, the coordinate deviation direction may be determined in the following manner:

acquiring the center position of the thorax of an object to be detected;

if the real-time position is located between the standard position and the thoracic center position, determining that the coordinate deviation direction is opposite to the thoracic expansion direction of the object to be detected;

and if the standard position is located between the real-time position and the thoracic center position, determining that the coordinate deviation direction is the same as the thoracic expansion direction of the object to be detected.

In practical implementation, when step S100 is executed, the image acquisition field of view of the CT apparatus is adjusted, so that the pre-detection image simultaneously includes the target body surface region and the thorax of the object to be detected, and the center position of the thorax is obtained based on the pre-detection image, which may be specifically represented by a three-dimensional coordinate. Of course, when the object to be detected is in the target body posture, the thoracic CT image of the thoracic region of the object to be detected may be obtained, and the thoracic center position may be obtained based on the thoracic CT image.

Illustratively, in the target coordinate system O-XYZ, the real-time position A1 is represented by three-dimensional coordinates (X1, Y1, Z1), the standard position A2 is represented by three-dimensional coordinates (X2, Y2, Z2), and the thorax center position A3 is represented by three-dimensional coordinates (X3, Y3, Z3), if the real-time position A1 is located between the standard position A2 and the thorax center position A3, the coordinate deviation direction is determined to be opposite to the thorax expansion direction of the object to be detected (as shown in fig. 1b and 1c, and in fig. 1c, the thorax viewing angle is opposite to the X coordinate axis in fig. 1 b), and if the standard position A1 is located between the real-time position A2 and the thorax center position A3, the coordinate deviation direction is determined to be the same as the thorax expansion direction of the object to be detected (as shown in fig. 1b and 1d, and in fig. 1d, the thorax viewing angle is opposite to the X coordinate axis in fig. 1 b).

For the coordinate deviation amount, in the embodiment of the present application, the coordinate deviation amount may be obtained by the following calculation logic:

D＝Sqrt[(X1-X2) ² +(Y1-Y2) ² +(Z1-Z2) ² ]

and D is used for representing the coordinate deviation amount between the real-time position and the standard position, the real-time position is represented by three-dimensional coordinates (X1, Y1 and Z1), and the standard position is represented by three-dimensional coordinates (X2, Y2 and Z2).

In step S420, after obtaining the plurality of coordinate deviations, the variation of the plurality of coordinate deviations is obtained.

In the embodiment of the present application, the variation includes a deviation difference, and when the variation is actually implemented, the deviation difference may be obtained in the following manner:

It can be understood that, in the embodiment of the present application, the deviation difference is between two position tracking moments closest to the current moment, and due to the change of the breathing state of the object to be detected, the coordinate variation generated at the real-time position is caused, and the coordinate variation can be used for representing the breathing amount of the object to be detected between the two position tracking moments.

As shown in fig. 1e, for example, at a first position tracking time, a real-time position a11 (X11, Y11, Z11) of the reference point is obtained, and at a second position tracking time after a preset time interval, a real-time position a12 (X12, Y12, Z12) of the reference point is obtained, then the first to-be-used deviation is a coordinate deviation between the real-time position a12 and the standard position A2 (X2, Y2, Z2) and is denoted as L12-2, and the second to-be-used deviation is a coordinate deviation between the real-time position a11 and the standard position A2 (X2, Y2, Z2) and is denoted as L11-2, and a deviation L between the first to-be-used deviation L12-2 and the second to-be-used for representing the respiration volume of the object to be detected between the first position tracking time and the second position tracking time.

And step S430, generating respiration adjustment indicating information based on the change condition, wherein the respiration adjustment indicating information is used for indicating the object to be detected to adjust the respiration state.

The respiration adjustment indication information may include a respiration mode indication information and a respiration amount indication information.

In practical implementation, the respiratory adjustment indication information may be generated as follows:

and generating respiratory adjustment indication information comprising respiratory mode indication information and respiratory volume information indication information.

Typically, upon inspiration, the thorax expands 360 degrees outward due to an increase in chest volume, and conversely, upon expiration, the thorax compresses 360 degrees inward due to a decrease in chest volume. Based on this, if the coordinate deviation direction is opposite to the thoracic cavity expansion direction of the object to be detected, first respiratory mode indicating information is generated, the first respiratory mode indicating information is used for indicating that the object to be detected inhales, the thoracic cavity expands outwards by 360 degrees, so that the real-time position gradually approaches to the standard position, if the coordinate deviation direction is the same as the thoracic cavity expansion direction of the object to be detected, second respiratory mode indicating information is generated, the second respiratory mode indicating information is used for indicating that the object to be detected exhales, and the thoracic cavity compresses inwards by 360 degrees, so that the real-time position gradually approaches to the standard position.

With reference to fig. 1b and 1c, if the real-time position A1 is located between the standard position A2 and the thoracic central position A3, that is, the coordinate deviation direction is opposite to the thoracic expansion direction of the object to be detected, the first breathing mode indication information may be generated to indicate that the object to be detected inhales, and the thoracic cavity expands outward by 360 degrees, so that the real-time position A1 gradually approaches the standard position A2.

With reference to fig. 1b and 1d, if the standard position A1 is located between the real-time position A2 and the thoracic central position A3, that is, the coordinate deviation direction is the same as the thoracic expansion direction of the object to be detected, the second respiratory mode indication information may be generated to indicate that the object to be detected exhales, and the thoracic cavity is compressed inward by 360 degrees, so that the real-time position A1 gradually approaches the standard position A2.

In addition, in this embodiment of the application, if the first deviation to be used is greater than the deviation difference, first respiratory capacity indication information is generated, where the first respiratory capacity indication information is used to indicate that the subject to be detected increases respiratory capacity, if the first deviation to be used is equal to the deviation difference, second respiratory capacity indication information is generated, the second respiratory capacity indication information is used to indicate that the subject to be detected keeps respiratory capacity, and if the first deviation to be used is less than the deviation difference, third respiratory capacity indication information is generated, and the third respiratory capacity indication information is used to indicate that the subject to be detected decreases respiratory capacity.

With reference to the example shown in fig. 1e, if the first deviation L12-2 to be used is greater than the deviation difference L, it indicates that the subject needs to increase the respiration amount, and therefore, a first respiration amount indication information is generated, if the first deviation L12-2 to be used is equal to the deviation difference L, it indicates that the subject needs to maintain the respiration amount, and therefore, a second respiration amount indication information is generated, and if the first deviation L12-2 to be used is less than the deviation difference L, it indicates that the subject needs to decrease the respiration amount, and therefore, a third respiration amount indication information is generated.

Under the indication of the posture indication information, the object to be detected controls the posture of the body so that the deviation between the final position of the reference point and the standard position is within the target deviation range, and in the case that step S400 includes step S410, step S420 and step S430, the target deviation range may be determined according to the area size of the lesion site.

In addition, in the embodiment of the present application, if the posture indicating information includes both the respiratory adjustment indicating information and the posture adjustment indicating information, after step S410 is executed, that is, after the coordinate deviation between the real-time position and the standard position is obtained every time a real-time position is obtained, step S400 may further include step S411 and step S412.

And S411, if the coordinate deviation amount exceeds a preset position deviation range, generating pose adjustment indication information according to the coordinate deviation direction and the coordinate deviation amount, wherein the pose adjustment indication information is used for indicating the object to be detected to adjust the body pose.

If the coordinate deviation amount exceeds the preset position deviation range, it indicates that the body pose of the object to be detected does not keep consistent with the target body pose, so step S411 needs to be executed, that is, pose adjustment indication information is generated according to the coordinate deviation direction and the coordinate deviation amount and is used for indicating that the object to be detected adjusts the body pose first to keep consistent with the target body pose.

In the embodiment of the present application, the preset position deviation range may be represented by a length interval [0, L '], wherein L' may be obtained in the following manner:

when an object to be detected is in a deep air suction state, acquiring a first reference position of a reference point;

when the object to be detected is in a deep expiration state, acquiring a second reference position of the reference point;

and taking the coordinate deviation value between the first reference position and the second reference position as the maximum length value in the preset position deviation range, namely L'.

When the object to be detected is in a deep inspiration state, the thorax of the object to be detected is expanded outwards by 360 degrees to the limit position, and similarly, when the object to be detected is in a deep expiration state, the thorax of the object to be detected is compressed inwards by 360 degrees to the limit position, so that when the coordinate deviation amount exceeds a preset position deviation range, the deviation between the final position and the standard position of the reference point cannot be within a target deviation range only by adjusting the respiration state, and therefore, the body position of the object to be detected needs to be indicated to be adjusted first to keep consistency with the target body position.

In practical implementation, the pose adjustment indication information may be generated as follows:

respectively acquiring unidirectional coordinate deviation amounts in three coordinate axis directions in a target coordinate system;

determining the relative position relation between each coordinate axis direction and the object to be detected;

for each coordinate axis, generating movement indication information corresponding to the coordinate axis according to the relative position relation and the unidirectional coordinate deviation amount corresponding to the coordinate axis;

and generating pose adjustment indicating information according to the three obtained moving indicating information.

For example, if it is determined that the direction of the X coordinate axis is the same as the direction from the step position to the head position of the object to be detected and the unidirectional coordinate deviation amount in the direction of the X coordinate axis is L "in the target coordinate system O-XYZ, the movement instruction information corresponding to the X coordinate axis is" L moves in the head direction ".

In step S412, if the coordinate deviation amount is within the preset position deviation range and exceeds the target deviation range, a step of acquiring a plurality of coordinate deviation variation conditions is performed.

In the embodiment of the present application, if the coordinate deviation amount is within the preset position deviation range and exceeds the target deviation range, the step of obtaining the variation of the plurality of coordinate deviations is executed, that is, step S420 and the subsequent steps (step S430) are started to generate the respiration adjustment indication information for indicating the object to be detected to adjust the respiration state.

In the case that step S400 includes step S410, step S411, step S412, step S420 and step S430, before instructing the subject to be detected to adjust the breathing state, the subject to be detected may also be instructed to breathe according to the target breathing method, so as to further improve the accuracy of the puncture surgery, which may be specifically implemented in the following manner:

In practical implementation, when step S100 is executed, the image acquisition field of view of the CT apparatus is adjusted, so that the pre-detection image simultaneously includes the target body surface region, the thorax and the abdominal cavity of the object to be detected, and based on the pre-detection image, the center position of the thorax is obtained as the position of the thorax of the object to be detected, which may be specifically represented by a three-dimensional coordinate, and simultaneously, based on the pre-detection image, the position of the abdominal cavity of the object to be detected is obtained. Of course, when the object to be detected is in the target body posture, the thoracic CT image of the thoracic region of the object to be detected may be obtained, the thoracic center position is obtained as the thoracic region position of the object to be detected based on the thoracic CT image, meanwhile, the abdominal CT image of the abdominal region of the object to be detected is obtained, and the abdominal region position of the object to be detected is obtained based on the abdominal CT image.

In the embodiment of the present application, if step S400 includes step S410, step S420 and step S430, and does not include step S411 and step S412, the above steps may be performed before step S410 is performed, so as to instruct the subject to be detected to breathe according to the target breathing method, so as to further improve the accuracy of the puncture surgery.

In this embodiment of the application, if the posture indicating information only includes the pose adjustment indicating information, step S400 may include step S440 and step S450.

Step S440, when each real-time position is obtained, obtaining a coordinate deviation between the real-time position and the standard position, where the coordinate deviation includes a coordinate deviation direction and a coordinate deviation amount.

And S450, if the coordinate deviation amount exceeds the target deviation range, generating pose adjustment indicating information according to the coordinate deviation direction and the coordinate deviation amount, wherein the pose adjustment indicating information is used for indicating the to-be-detected object to adjust the body pose.

It is to be understood that the target deviation range in step S450 corresponds to the preset positional deviation range in step S411 and step S412. Therefore, in step S450, if the coordinate deviation amount exceeds the target deviation range, it indicates that the body pose of the object to be detected does not keep consistent with the target body pose, and therefore, pose adjustment indication information needs to be generated according to the coordinate deviation direction and the coordinate deviation amount, and is used for indicating the object to be detected to adjust the body pose so as to keep consistent with the target body pose.

In step S450, the obtaining manner of the target deviation range may be the same as the obtaining manner of the preset position deviation range in step S411, which is not described herein again. Similarly, in step S450, the generation manner of the pose adjustment instruction information may be the same as the generation manner of the pose adjustment instruction information in step S411, which is not described herein again.

In the embodiment of the application, after the posture indicating information is obtained, the posture indicating information can be broadcasted (in a voice wave amplification or image display mode) so that the body posture of the object to be detected can be controlled according to the posture indicating information, and the deviation between the final position of the reference point and the standard position is within the target deviation range.

The posture control method provided by the embodiment of the application can be used for acquiring a pre-detection image of a target body surface region on an object to be detected when the object to be detected is in a target body posture, the target body surface region is provided with a reference point, the reference point is used for indicating the puncture needle inserting position of a focus part under the target body surface region when the object to be detected is in the target body posture, then based on the pre-detection image, a standard position of the reference point is acquired, in the subsequent puncture surgery process, the reference point is tracked in real time to acquire a real-time position of the reference point, posture indicating information is generated according to the real-time position and the standard position, and the posture indicating information is used for indicating the object to be detected to control the body posture, so that the deviation between the final position of the reference point and the standard position is located in a target deviation range. That is to say, in the process of the puncture operation, posture indicating information can be generated according to the real-time position and the standard position of the reference point, and the object to be detected can control the body posture according to the posture indicating information so as to keep the consistency of the real-time body posture and the target body posture as much as possible, so that the deviation between the final position and the standard position of the reference point is within the target deviation range, thereby avoiding the situation that the actual puncture needle inserting position cannot correspond to the focus part, and improving the accuracy of the puncture operation.

In order to better implement the above attitude control method, the embodiment of the present application further provides an attitude control device 100, and the attitude control device 100 may be integrated in an electronic device. Hereinafter, the attitude control device 100 will be described in detail with reference to fig. 2.

The posture control device 100 provided in the embodiment of the present application includes:

the image acquisition module 110 is configured to acquire a pre-detection image of a target body surface region on an object to be detected when the object to be detected is in a target body posture, where the target body surface region is provided with a reference point, and the reference point is used to indicate a puncture needle inserting position of a focus part under the target body surface region when the object to be detected is in the target body posture;

a standard position obtaining module 120, configured to obtain a standard position of the reference point based on the pre-detection image;

a real-time position obtaining module 130, configured to track the reference point in real time and obtain a real-time position of the reference point;

and the indicating information generating module 140 is configured to generate posture indicating information according to the real-time position and the standard position, where the posture indicating information is used to indicate that the object to be detected controls the body posture, so that the deviation between the final position of the reference point and the standard position is within a target deviation range.

In some embodiments, the posture indication information includes respiratory adjustment indication information, and the indication information generating module 140 is specifically configured to:

acquiring coordinate deviation between a real-time position and a standard position when each real-time position is acquired;

In some embodiments, the coordinate deviation includes a coordinate deviation amount, the change condition includes a deviation difference amount, and the indication information generating module 140 is specifically configured to:

taking the coordinate deviation included in the first coordinate deviation as a first to-be-used deviation, wherein the first coordinate deviation is the coordinate deviation with the latest time in the multiple coordinate deviations;

and acquiring a deviation difference between the first standby deviation and the second standby deviation.

In some embodiments, the coordinate deviation further includes a coordinate deviation direction, and the indication information generating module 140 is specifically configured to:

In some embodiments, the indication information generating module 140 is specifically configured to:

In some embodiments, the posture indicating information further includes pose adjustment indicating information, the coordinate deviation includes a coordinate deviation direction and a coordinate deviation amount, and after acquiring the coordinate deviation between the real-time position and the standard position every time a real-time position is acquired, the indicating information generating module 140 is further configured to:

if the coordinate deviation amount exceeds the preset position deviation range, generating pose adjustment indicating information according to the coordinate deviation direction and the coordinate deviation amount, wherein the pose adjustment indicating information is used for indicating the object to be detected to adjust the body pose;

In some embodiments, the posture control apparatus 100 further includes a respiratory indication module, and before the indication information generation module 140 performs the step of acquiring the variation of the plurality of coordinate deviations, the respiratory indication module:

and if the coordinate deviation amount exceeds the target deviation range, generating pose adjustment indicating information according to the coordinate deviation direction and the coordinate deviation amount, wherein the pose adjustment indicating information is used for indicating the object to be detected to adjust the body pose.

In some embodiments, the attitude control device 100 further includes an information broadcasting module configured to:

In specific implementation, the modules may be implemented as independent entities, or may be combined arbitrarily and implemented as one or several entities, and specific implementations of the modules may refer to the attitude control method embodiment, which is not described herein again.

In the embodiment of the present application, the attitude control device 100100 has the same beneficial effects as the above-mentioned attitude control method, that is:

the method comprises the steps of acquiring a pre-detection image of a target body surface region on an object to be detected when the object to be detected is in a target body posture, wherein the target body surface region is provided with a reference point, the reference point is used for indicating the puncture needle inserting position of a focus part under the target body surface region when the object to be detected is in the target body posture, then acquiring a standard position of the reference point based on the pre-detection image, tracking the reference point in real time in a subsequent puncture surgery process to acquire a real-time position of the reference point, generating posture indicating information according to the real-time position and the standard position, and the posture indicating information is used for indicating the object to be detected to control the body posture so that the deviation between the final position of the reference point and the standard position is within a target deviation range. That is to say, in the process of the puncture operation, posture indicating information can be generated according to the real-time position and the standard position of the reference point, and the object to be detected can control the body posture according to the posture indicating information so as to keep the consistency of the real-time body posture and the target body posture as much as possible, so that the deviation between the final position and the standard position of the reference point is within the target deviation range, thereby avoiding the situation that the actual puncture needle inserting position cannot correspond to the focus part, and improving the accuracy of the puncture operation.

Correspondingly, the embodiment of the present application further provides an electronic device 200, and the electronic device 200 may be a computer.

Referring to fig. 3, fig. 3 is a schematic block diagram of an electronic device 200 according to an embodiment of the present application, where the electronic device 200 includes a processor 210 having one or more processing cores, a memory 220 having one or more computer-readable storage media, and a computer program stored in the memory 220 and executable on the processor. The processor 210 is electrically connected to the memory 220. Those skilled in the art will appreciate that the electronic device configuration shown in fig. 3 does not constitute a limitation of the electronic device and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.

The processor 210 is a control center of the electronic device 200, connects various parts of the entire electronic device 200 using various interfaces and lines, performs various functions of the electronic device 200 and processes data by running or loading software programs and/or modules stored in the memory 220, and calling data stored in the memory 220, thereby integrally monitoring the electronic device 200.

In the embodiment of the present application, the processor 210 in the electronic device 200 loads instructions corresponding to processes of one or more application programs into the memory 220, and the processor 210 executes the application programs stored in the memory 220, thereby implementing various functions.

For example, it is possible to realize:

The above operations can be implemented in the embodiments of the method, and are not described herein.

As shown in fig. 3, the electronic device 200 may further include: touch display 230, radio frequency circuit 240, audio circuit 250, input unit 260 and power supply 270. The processor 210 is electrically connected to the touch display screen 230, the radio frequency circuit 240, the audio circuit 250, the input unit 260, and the power supply 270, respectively. Those skilled in the art will appreciate that the electronic device configuration shown in fig. 3 does not constitute a limitation of the electronic device and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.

The touch display screen 230 can be used for displaying a graphical user interface and receiving operation instructions generated by a user acting on the graphical user interface. The touch display screen 230 may include a display panel and a touch panel. The display panel may be used, among other things, to display information entered by or provided to a user and various graphical user interfaces of the electronic device, which may be made up of graphics, text, icons, video, and any combination thereof. Alternatively, the Display panel may be configured in the form of a Liquid Crystal Display (LCD), an Organic Light-Emitting Diode (OLED), or the like. The touch panel may be used to collect touch operations of a user (e.g., operations of a user on or near the touch panel using a finger, a stylus, or any other suitable object or accessory) thereon or nearby and generate corresponding operation instructions, and the operation instructions execute corresponding programs. Alternatively, the touch panel may include two parts, a touch detection device and a touch controller. The touch detection device detects the touch direction of a user, detects a signal brought by touch operation and transmits the signal to the touch controller; the touch controller receives touch information from the touch sensing device, converts the touch information into touch point coordinates, sends the touch point coordinates to the processor 210, and can receive and execute commands sent by the processor 210. The touch panel may cover the display panel, and when the touch panel detects a touch operation thereon or nearby, the touch panel transmits the touch operation to the processor 210 to determine the type of the touch event, and then the processor 210 provides a corresponding visual output on the display panel according to the type of the touch event. In the embodiment of the present application, the touch panel and the display panel may be integrated into the touch display screen 230 to implement input and output functions. However, in some embodiments, the touch panel and the touch panel can be implemented as two separate components to perform input and output functions. That is, the touch display 230 may also be used as a part of the input unit 260 to implement an input function.

The rf circuit 240 may be used for transceiving rf signals to establish wireless communication with a network device or other electronic devices through wireless communication, and for transceiving signals with the network device or other electronic devices.

The audio circuit 250 may be used to provide an audio interface between the user and the electronic device through a speaker, microphone. The audio circuit 250 can transmit the electrical signal converted from the received audio data to a speaker, and the electrical signal is converted into a sound signal by the speaker and output; on the other hand, the microphone converts the collected sound signal into an electrical signal, which is received by the audio circuit 250 and converted into audio data, which is then processed by the audio data output processor 210 and then transmitted to another electronic device via the rf circuit 240, or the audio data is output to the memory 220 for further processing. The audio circuit 250 may also include an earbud jack to provide communication of peripheral headphones with the electronic device.

The input unit 260 may be used to receive input numbers, character information, or user characteristic information (e.g., fingerprint, iris, face information, etc.), and generate a keyboard, mouse, joystick, optical, or trackball signal input related to user setting and function control.

Power supply 270 is configured to provide power to various components of electronic device 200. Optionally, the power supply 270 may be logically connected to the processor 210 through a power management system, so as to implement functions of managing charging, discharging, and power consumption management through the power management system. Power supply 270 may also include one or more dc or ac power sources, recharging systems, power failure detection circuitry, power converters or inverters, power status indicators, or any other component.

Although not shown in fig. 3, the electronic device 200 may further include a camera, a sensor, a wireless fidelity module, a bluetooth module, and the like, which are not described in detail herein.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to the related descriptions of other embodiments.

Because the processor 210 in the electronic device 200 loads the instruction corresponding to the process of one or more application programs into the memory 220 according to the steps of any gesture control method provided in the embodiment of the present application, and the processor 210 runs the application program stored in the memory 220, so as to implement various functions, the beneficial effects that can be achieved by any gesture control method provided in the embodiment of the present application can be achieved, that is:

It will be understood by those skilled in the art that all or part of the steps of the methods of the above embodiments may be performed by instructions or by associated hardware controlled by the instructions, which may be stored in a computer readable storage medium and loaded and executed by a processor.

To this end, the present application provides a computer-readable storage medium, in which a plurality of computer programs are stored, and the computer programs can be loaded by a processor to execute the steps in any one of the attitude control methods provided by the embodiments of the present application.

For example, the computer program may perform the steps of:

The specific implementation of the above operations can be referred to the above embodiments, and will not be described herein.

Wherein the storage medium may include: read Only Memory (ROM), random Access Memory (RAM), magnetic or optical disks, and the like.

Because the computer program stored in the storage medium can execute the steps in any attitude control method provided by the embodiment of the present application, the beneficial effects that can be achieved by any attitude control method provided by the embodiment of the present application can be achieved, that is, the following steps:

The attitude control method, the attitude control device, the storage medium, and the electronic device provided in the embodiments of the present application are described in detail above, and specific examples are applied herein to explain the principles and embodiments of the present application, and the description of the embodiments is only used to help understand the method and the core idea of the present application; meanwhile, for those skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.

Claims

1. An attitude control method, characterized by comprising:

when an object to be detected is in a target body posture, acquiring a pre-detection image of a target body surface region on the object to be detected, wherein the target body surface region is provided with a reference point, and the reference point is used for indicating the puncture needle inserting position of a focus part under the target body surface region when the object to be detected is in the target body posture;

acquiring a standard position of the reference point based on the pre-detection image;

2. The attitude control method according to claim 1, wherein the attitude indicating information includes respiratory adjustment indicating information, and the generating attitude indicating information from the real-time position and the standard position includes:

acquiring a coordinate deviation between the real-time position and the standard position when each real-time position is acquired;

after obtaining a plurality of coordinate deviations, acquiring the change conditions of the coordinate deviations;

and generating the respiration adjustment indicating information based on the change condition, wherein the respiration adjustment indicating information is used for indicating the object to be detected to adjust the respiration state.

3. The attitude control method according to claim 2, wherein the coordinate deviation includes a coordinate deviation amount, the change situation includes the deviation amount difference, and the acquiring the change situation of the plurality of coordinate deviations includes:

taking a coordinate deviation amount included in a first coordinate deviation as a first to-be-used deviation amount, wherein the first coordinate deviation is a coordinate deviation with the latest acquisition time in the plurality of coordinate deviations;

taking a coordinate deviation amount included in a second coordinate deviation as a second standby deviation amount, wherein the second coordinate deviation is a coordinate deviation of which the acquisition time is adjacent to the acquisition time of the first coordinate deviation in the plurality of coordinate deviations;

4. The attitude control method according to claim 3, wherein the coordinate deviation further includes a coordinate deviation direction, and the generating the respiration adjustment instruction information based on the change includes:

generating breathing mode indicating information according to the coordinate deviation direction included by the first coordinate deviation;

generating respiratory adjustment indication information including the respiratory manner indication information and the respiratory volume information indication information.

5. The posture control method according to claim 4, wherein the generating of the breathing pattern indication information according to the coordinate deviation direction included in the first coordinate deviation includes:

if the coordinate deviation direction is opposite to the thoracic cavity expansion direction of the object to be detected, generating first respiratory mode indicating information, wherein the first respiratory mode indicating information is used for indicating the inspiration of the object to be detected;

and if the coordinate deviation direction is the same as the thoracic expansion direction of the object to be detected, generating second respiratory mode indication information, wherein the second respiratory mode indication information is used for indicating the exhalation of the object to be detected.

6. The attitude control method according to claim 4, wherein generating respiratory volume indication information according to a magnitude relation between the first to-be-used deviation and the deviation difference value comprises:

if the first deviation to be used is larger than the deviation difference, first respiratory capacity indicating information is generated and used for indicating the to-be-detected object to increase respiratory capacity;

7. The attitude control method according to claim 2, wherein the attitude indicating information further includes pose adjustment indicating information, the coordinate deviation includes a coordinate deviation direction and a coordinate deviation amount, and the generating attitude indicating information based on the real-time position and the standard position after acquiring the coordinate deviation between the real-time position and the standard position every time one of the real-time positions is acquired further includes:

if the coordinate deviation amount exceeds a preset position deviation range, generating pose adjustment indication information according to the coordinate deviation direction and the coordinate deviation amount, wherein the pose adjustment indication information is used for indicating the object to be detected to adjust the body pose;

and if the coordinate deviation amount is within the preset position deviation range and exceeds the target deviation range, executing the step of acquiring the change conditions of the plurality of coordinate deviations.

8. The attitude control method according to claim 7, wherein before said acquiring the variation of the plurality of coordinate deviations, the attitude control method further comprises:

acquiring first distance information between the reference point and the chest position of the object to be detected;

if the first distance information is larger than the second distance information, generating chest respiration method indicating information, wherein the chest respiration method indicating information is used for indicating the object to be detected to breathe according to a chest respiration method;

if the first distance information is smaller than the second distance information, abdominal respiration method indicating information is generated, and the abdominal respiration method indicating information is used for indicating the object to be detected to breathe according to an abdominal respiration method.

9. The attitude control method according to claim 1, wherein the attitude indicating information includes pose adjustment indicating information, and the generating attitude indicating information from the real-time position and the standard position includes:

when each real-time position is obtained, acquiring the coordinate deviation between the real-time position and the standard position, wherein the coordinate deviation comprises coordinate deviation amount in the coordinate deviation direction;

and if the coordinate deviation amount exceeds the target deviation range, generating pose adjustment indication information according to the coordinate deviation direction and the coordinate deviation amount, wherein the pose adjustment indication information is used for indicating the to-be-detected object to adjust the body pose.

10. The attitude control method according to claim 1, wherein after generating attitude indication information based on the real-time position and the standard position, the attitude control method further comprises:

11. An attitude control device characterized by comprising:

the image acquisition module is used for acquiring a pre-detection image of a target body surface region on an object to be detected when the object to be detected is in a target body posture, wherein the target body surface region is provided with a reference point, and the reference point is used for indicating the puncture needle inserting position of a focus part under the target body surface region when the object to be detected is in the target body posture;

a standard position obtaining module, configured to obtain a standard position of the reference point based on the pre-detection image;

12. An electronic device comprising a memory and a processor;

the memory stores an application program, and the processor is configured to run the application program in the memory to perform the steps of the attitude control method according to any one of claims 1 to 10.

13. A storage medium storing a plurality of instructions adapted to be loaded by a processor to perform the steps of the attitude control method according to any one of claims 1 to 10.