WO2023024397A1

WO2023024397A1 - Medical robot apparatus, system and method

Info

Publication number: WO2023024397A1
Application number: PCT/CN2022/000118
Authority: WO
Inventors: 谈斯聪; 于皓; 于梦非
Original assignee: 谈斯聪
Priority date: 2021-08-27
Filing date: 2022-08-18
Publication date: 2023-03-02
Also published as: CN118265498A; AU2022332824A1; CN113855250A

Abstract

A medical robot apparatus, system and method. The medical robot apparatus is a medical remote robot apparatus for autonomous diagnosis and adjuvant therapy using artificial intelligence robot technology. The apparatus comprises: a robot main system (202), which is connected to an imaging apparatus, such as an MRI apparatus and a CT apparatus, and performs remote control and autonomous control to collect a medical image. By means of a radar (211), a movable base (209) realizes autonomous mapping, positioning, navigation and movement, so as to solve the problem of moving collection. The medical robot apparatus is connected to a plane vision apparatus and a deep vision apparatus, and intelligently identifies plane information, and depth information such as of a skeleton. By means of the medical robot apparatus, remote control over image collection, and autonomous collection can be realized, thereby reducing a burden of a caregiver, and improving the flexibility of remote image sharing and remote inquiry by an expert and a doctor.

Description

A medical robot device, system and method

technical field

The invention belongs to the application of artificial intelligence robot technology to the medical field, and relates to robot technology, an artificial intelligence image intelligent recognition method, intelligent equipment and a system.

Background technique

Currently used in the medical field, during the inspection process, due to the analysis of various human factors, the quality of medical image and video acquisition is poor, the degree of standardization is low, and the accuracy of identifying the disease is poor. In the current inspection process, mobile collection, bedside collection, intelligent recognition of scanning organ location autonomous collection, remote control by administrators, autonomous control, remote joint consultation, joint ward rounds with ward experts, robot devices for joint treatment, and robot platforms involving robots Theory, practical techniques.

Due to the epidemic, lung infection, high infectivity of the new crown, X-ray, DR, CT, MRI, PET, computerized tomography imaging device, connected with the scanning device, connected with the main robot system, autonomous mapping, positioning, navigation, movement . Using the robot arm, vision device, depth vision device and various neural network methods and their improvement methods, intelligently identify organs and their positions, and use them to check the cranium, cervical spine, lumbar spine, thoracic spine, abdomen, bone joints, heart, Collection is highly contagious, inefficient, manual collection is inaccurate, and the problem of plague transmission is serious. Use the remote end of the robotic arm to collect medical images and videos autonomously. Collect medical images and videos, realize remote collection, autonomous collection, and effectively prevent the spread of infectious diseases, plague and other major diseases.

technical problem

The purpose of the present invention is to overcome the shortcomings and deficiencies of the above-mentioned prior art, and to provide a medical robot device, which utilizes a remote, autonomous robot to collect medical image devices, and solves artificial scanning, inspection, collection, diagnosis and treatment errors, and a single The limitations of the diagnosis and treatment department and the singleness of the diagnosis plan.

The radar and the mobile base realize autonomous movement, map positioning and navigation, and solve the problem of mobile collection.

Plane vision device, depth vision device, intelligently identify plane information, depth information such as bones, intelligently identify human organs, and scan and collect positions.

X-ray imaging device, direct digital imaging DR device, computerized tomography imaging CT device, magnetic resonance MR device, PET positron emission computed tomography imaging device, intelligent identification, autonomous positioning, scanning task organs.

Through the medical image acquisition device carried by the robot, the remote control of the robot and autonomous acquisition can be realized, and the problems of high operating pressure and various acquisition tasks for medical staff can be solved. Improve the flexibility and real-time performance of experts and doctors' remote real-time consultation, ward rounds, and multi-department joint consultation, and solve clinical cases with high-efficiency multi-treatment plans and multi-expert joint opinions.

The technical scheme adopted in the present invention

A robotic device for medical use comprising:

The robot main system, the robot main system module, is used to connect and control the robot device module, including: voice module, vision module and visual recognition module, radar autonomous positioning navigation mobile module, medical device and module, robot arm and action planning module .

Voice device and voice module, the main system of the robot is connected with the voice device for collecting and recognizing voice, voice interaction between users and administrators, and voice commands;

The radar autonomous positioning and navigation mobile module includes:

Mobile base, connected to the radar, connected to the main system of the robot, for movement;

Radar, connected with the main system of the robot, connected with the mobile base, used for autonomous mapping, positioning, and navigation;

Medical devices and modules, including: medical imaging devices, scanning devices, scanning radiation mediation devices, radiation protection devices, the medical devices are one or more of the following devices,

X-ray imaging device, direct digital imaging DR device, computerized tomography imaging CT device, magnetic resonance MR device, PET positron emission computed tomography imaging device,

X-ray imaging device, direct digital imaging DR device includes:

The X-ray emitting device is an X-ray generator for generating X-rays.

X-ray irradiation scanning device, connected with the main system of the robot, integrated with the robot arm, as a scanning device for the scanning robot arm, emits x-rays, and the scanning robot arm is used to collect medical images, the robot arm is a U-shaped arm, a C-shaped arm ;

X-ray imaging devices are used to examine the brain, cervical spine, lumbar spine, thoracic spine, and bone joints;

The flat-panel detection device is used to receive X-rays and assist in the collection of X-ray images. The flat-panel detection device is detachable and connected to the information verification robot arm to receive X-rays and assist in the collection of X-ray images. The flat-panel detection device is connected to the information verification robot arm and is detachable. The robot main system and the remote client control the robot arm and the flat-panel detection device to separate, combine and move.

CT device, computerized tomography imaging device, the computerized tomography imaging device, connected with the scanning device and the main robot system, is used to check the cranium, cervical cone, lumbar spine, thoracic spine, abdomen, bone joints, The heart, the scanning device, is a circular robotic arm;

MRI device, magnetic resonance device, the magnetic resonance device, connected with the scanning device, connected with the robot main system, is used to examine the cranium, cervical cone, lumbar spine, thoracic spine, bone, cartilage, soft tissue, muscle, chest, blood vessel, The abdomen, bone joints, heart, and the scanning device are ring-shaped robotic arms;

PET device, positron emission computed tomography imaging device, said positron emission tomography imaging device, connected with scanning device, with robot main system, is used for examining cranium, cervical cone, lumbar spine, thoracic spine, bone, cartilage , soft tissue, muscle, chest, blood vessel, abdomen, bone joint, heart, the scanning device is a circular robotic arm;

Scanning and irradiation mediation device, used for scanning, irradiating parts, mediating the position, height, angle, direction and various scanning irradiation parameters of bones and joints;

Radiation protection device for radiation protection;

The visual collection device and the visual recognition module are used for collecting images and videos, and recognizing images and videos.

Robotic arms, including scanning robotic arms and information verification robotic arms, are used to collect medical images and scan and read information.

Voice device and voice module, the main robot system is connected with the voice device for collecting and recognizing voice, voice interaction between users and administrators, voice command, voice consultation and voice guidance.

Communication module, remote control and autonomous control image acquisition module, the communication module is connected with the robot main system and remote client, the communication module includes wireless communication module, bluetooth communication module, wired Internet communication module, radio frequency communication, radio One or more communication methods in communication.

Medical devices, the medical devices include: medical imaging devices, scanning devices, scanning irradiation mediation devices, radiation protection devices,

The medical device is one or more of the following devices,

X-ray imaging device, direct digital imaging DR device, computerized tomography imaging CT device, magnetic resonance MR device, PET positron emission computed tomography imaging device;

The robotic arm, the robotic arm can be remotely controlled and autonomously controlled, the robotic arm includes a scanning robotic arm, an information verification robotic arm, a scanning robotic arm and a scanning device to collect medical images, and the remote control is through management The user remotely controls and mediates setting parameters, the self-controlled scanning device collects medical images, trains actions and adaptively mediates parameters of the scanning device through the neural network and its improved method, and sets action planning parameters for action planning. The collection of medical images and videos, the collection module includes: medical images and video collection modules.

The scanning robot arm is connected with the main system of the robot and integrated with the robot arm. The robot arm is a U-shaped arm, a C-shaped arm, and a ring-shaped robot arm.

Scanning and irradiation mediation device. The scanning and irradiation mediation device is integrated with the scanning robot arm and connected with the main robot system, so that the medical object can move, lift and rotate the scanning robot arm according to the standard scanning requirements, and mediate the irradiation position of the scanning task. Bones, joint positions, heights, angles, directions.

An information collection and reading device, the information collection and reading device includes: an information collection device, an information scanning device, the reading device is connected to an information verification robot arm, and is used as an information reading robot arm for scanning digital codes, two-dimensional codes , RFID, biometrics, intelligent identification to read two-dimensional codes, digital codes, text, logos, biological information, RFID information, patients, user information.

A visual acquisition device and a visual recognition module, the main robot system is connected with the visual acquisition device for collecting images, videos, identifying images, and videos. The visual acquisition device includes: a plane vision device and a depth vision device;

Visual recognition module, including: planar vision device and planar image recognition, depth vision device and depth image recognition, used for image and video recognition,

Planar vision devices and planar image recognition include: face image recognition, facial features image recognition, human body feature recognition, and medical scene recognition.

Depth vision device and depth image recognition include: bone image, joint image, feature position recognition, key joint position and other special feature recognition of the human body, combined with positioning, to scan human organs.

The fusion of radar and vision devices is used for autonomous mapping, positioning, and navigation. The radar is connected to the mobile base for movement. The mobile base, radar, and vision devices are connected to the main robot system for autonomous positioning and navigation.

The fusion of plane image and depth vision image intelligently recognizes the intelligent recognition method of human facial features, bones, joints, organs, tissues, human body features and their positions. Bones, joints, human body feature points and their positions are autonomously positioned, scanned and inspected for organ tissues, and the method includes the following steps:

S1. According to the scanning task, read the organs and tissues that need to be scanned;

S2. Establishing a plane image model, a feature model, a human organ model and a plane image model including: face, facial features, neck, nipples, breasts, navel, characteristic genitals, characteristic parts and their positions as characteristic items, using neural network algorithm And its improved method, intelligent recognition of human body feature points and their positions;

S3. Establish depth vision device and depth vision image model, bone model, including: head bones, facial bones, skull, neck bones, vertebrae, scapula, shoulder joints, shoulder bones, sternum, ribs, thoracic spine, waist bones, Spine, sacrum, coccyx, left and right upper limb bones, elbow joints, wrist joints, hand joints, waist joints, knee joints, ankle joints, foot joints and their positions are used as feature items, using neural network algorithms and their improved methods to intelligently identify bones and For its position, the depth information and the position information of the human body where the skeleton is located and the information of the adjacent characteristic organs identified by the general image model described in S1 are combined as the feature items of the bone intelligent recognition model as input items;

S4. Intelligently identify the characteristic parts and positions of human organs, intelligently identify the organs that need to be scanned and inspected, and the bones near the tissue and their positions to assist in the positioning of organs;

S5. Delineate the part to be scanned, scan area, return to scan range, position area, collect position coordinates, autonomous positioning, and move the device;

S6. According to the returned coordinates, according to the scanning task, the medical imaging device and the scanning device are positioned independently, and moved to the position of the tissue and organ, the corresponding organ and bone;

S7. Scanning the corresponding organs and bones to obtain images of the organs and bones;

S8. Create disease models corresponding to various organs, tissues, and parts, and establish a mathematical model for image recognition;

S9. Extracting the appearance features of the disease and the graphic features of the organ image, including: the outline, color, texture, grayscale contrast, shape, position, color, structure and graphical feature items of the disease of the organ;

S10. Use the improved deep neural network to adjust the weight parameters to obtain the output value, and identify the normal signs or diseases of the corresponding organ according to the range of the output value, and intelligently identify the organ and its disease;

S11. Intelligently circle the disease mask of the disease on the image, and the position of the suspected disease mask.

Description of drawings:

Figure 1 is a schematic diagram of a medical robot device module in the specification of this application;

Attachment 1 marks:

101-Robot main system module; 102-Robot arm scanning acquisition action planning module; 103-Vision module;

104-medical device and image and video acquisition module; 105-voice module;

106-Robot arm grasping and scanning code movement planning module; 107-Information collection and reading device and module;

108-radar mapping positioning navigation mobile module; 109-radiation protection device; 110-communication module;

Figure 2 is a schematic diagram of the composition and structure of the medical robot device in the specification of this application;

Attachment 2 marks:

201 Vision acquisition device; 202-Robot main system; 203-Medical device; 204-Scanning irradiation mediation device;

205-scanning irradiation device; 206-scanning robot arm; 207-flat panel detection device; 208-information verification robot arm;

209-mobile device; 210-information scanning device; 211-radar; 212-voice device; 213-radiation protection device;

Detailed ways

The purpose of the present invention is to design a remote control robot that can replace human work, realize remote control of robot arm acquisition, and effectively solve autonomous scanning, acquisition of medical images and videos. Using artificial intelligence robot technology, autonomous collection in the field of automation, robot arm motion planning technology, plane vision device to collect human face, facial features, external features of human body, depth vision device to collect bone and joint images.

Realize remote control of robots and autonomous collection of medical images, videos, plane images and depth vision images to intelligently identify human facial features, bones, joints, organs, tissues, human body features and their positions. Fusion, intelligent recognition of human facial features, organs, bones, joints, human body feature points and their positions, the method of autonomous positioning, scanning and inspection of organ tissues, improves the accuracy of intelligent collection and the accuracy of abnormal identification of medical data. In order to better understand the above technical solutions, the present invention will be further described in detail below in conjunction with the examples and accompanying drawings, but the embodiments of the present invention are not limited thereto.

The technical scheme in the implementation of this application is as follows for the overall idea of solving the above-mentioned technical problems:

The medical robot device uses the remote end, and the robot autonomously collects medical image devices. Using radar, the mobile base realizes autonomous movement, constructs maps, locates and navigates, and solves the problem of mobile collection. Use plane vision device and depth vision device to intelligently identify plane information, skeleton and depth information. Through medical devices, medical images, and video acquisition devices, remote control and autonomous acquisition of robots can be realized, and the problems of high operating pressure and numerous acquisition tasks for medical staff can be solved.

Example 1:

Below, the present invention will be further described in detail in conjunction with the embodiments and accompanying drawings 1 and 2, but the embodiments of the present invention are not limited thereto.

A robotic device for medical use comprising:

Robot main system 101, the robot main system module is used to connect and control the robot device module, including: voice module 105, vision module and visual recognition module 103, radar autonomous positioning navigation mobile module 108, medical device and module 104, machine Arm and motion planning module.

Voice device 212 and voice module 105, robot main system 101 is connected with voice device 212, is used for collecting and recognizing sound, voice interaction between administrators between users, voice command;

The radar autonomous positioning and navigation mobile module includes:

The mobile base 209 is connected with the radar 211 and connected with the main robot system 101 for moving;

The radar 211 is connected with the main robot system 101 and the mobile base 209 for autonomous mapping, positioning and navigation;

Medical device and module 104, including: medical imaging device, scanning device, scanning irradiation mediation device, radiation protection device, the medical device described is one or more of the following devices,

X-ray imaging device 203, direct digital imaging DR device, computerized tomography imaging CT device, magnetic resonance MR device, PET positron emission computed tomography imaging device,

X-ray imaging device 203, direct digital imaging DR device includes:

The X-ray emitting device 204 is an X-ray generator for generating X-rays.

The flat-panel detection device 207 is used to receive X-rays and assist in the acquisition of X-ray images. The flat-panel detection device is detachable and connected to the information verification robot arm to receive X-rays and assist in the acquisition of X-ray images. The flat-panel detection device is connected to the information verification robot arm and is detachable. The robot main system and the remote client control the robot arm and the flat-panel detection device to separate, combine and move.

MRI device, magnetic resonance device, the magnetic resonance device is connected with the scanning device and the robot main system 101, and is used to examine the cranium, cervical cone, lumbar spine, thoracic spine, bone, cartilage, soft tissue, muscle, chest, blood vessel , abdomen, bone joints, heart, the scanning device is a ring-shaped robotic arm;

PET device, positron emission computed tomography imaging device, described positron emission computed tomography imaging device, is connected with the scanning device and the main robot system 101, and is used to examine the cranium, cervical cone, lumbar spine, thoracic spine, bone, cartilage.

The visual collection device and the visual recognition module 103 are used for collecting images and videos, and recognizing images and videos.

The robot arm, including the robot scanning arm 206 and the information verification robot arm 208, is used to collect medical images and scan and read information.

The voice device 212 and the voice module 105, the main robot system 101 is connected with the voice device 212, and is used for collecting and recognizing sounds, voice interaction between users and administrators, voice commands, voice consultation and voice guidance.

Communication module 110, remote control and autonomous control image acquisition module, the communication module is connected with the robot main system and the remote client, the communication module includes a wireless communication module, a bluetooth communication module, a wired Internet communication module, radio frequency communication, One or more communication methods in radio communication.

Example 2:

Below in conjunction with embodiment and accompanying drawing 1, accompanying drawing 2, the present invention will be described in further detail, but the embodiment of the present invention is not limited to this, plane visual image, depth image fusion, intelligent recognition of human body features, organs, bones, joints A method for autonomously positioning human body feature points and their positions to scan and inspect organ tissues, the method comprising the following steps:

According to the scanning task, read the organs and tissues that need to be scanned and inspect, extract the face, facial features, neck, nipples, breasts, navel, characteristic genitals, characteristic parts and their positions from the plane image of the human body and input them into the neural network algorithm as feature items And its improved method, intelligent recognition, marking human body feature points and their positions, extracting head bones, neck spine bones, clavicle, shoulder bones, shoulder joints, left and right upper limb bones, elbow joints, wrist joints, Hand joints, lungs, ribs, spine, waist joints, knee joints, ankle joints, and foot joints are input into the neural network algorithm and its improvement method as feature items, intelligently identify bones and their positions, and intelligently identify the characteristic parts and positions of human organs. Intelligently identify the organs that need to be scanned, the bones near the tissue and their positions to assist in the positioning of the organs; delineate the parts that need to be scanned, the location area, and the location coordinates; according to the returned coordinates, according to the scanning task, the medical imaging device and the scanning device are positioned independently , move to the location of tissues and organs, corresponding organs and bones, scan corresponding organs and bones, obtain images of organs and bones, create disease models corresponding to organs, tissues, and parts, establish mathematical models for image recognition, and extract the appearance of diseases Features, graphic features of organ images, including: organ outline, color, texture, grayscale contrast, shape, position, color, structure, and graphic feature items of diseases, using improved deep neural network to adjust weight parameters to obtain output values According to the range of the output value to identify the normal signs of the corresponding organ or the disease, intelligently identify the organ and its disease, intelligently circle the disease mask of the disease on the image, and the position of the suspected disease mask.

Claims

A medical robot device, system and method, characterized in that a medical robot device includes:

The robot main system, the robot main system module, is used to connect and control the robot device module, including: voice module, vision module and visual recognition module, radar autonomous positioning navigation mobile module, medical device and module, robot arm and action planning module ;

Voice device and voice module, the main system of the robot is connected with the voice device for collecting and recognizing voice, voice interaction between users and administrators, and voice commands;

The radar autonomous positioning and navigation mobile module includes:

Mobile base, connected to the radar, connected to the main system of the robot, for movement;

Radar, connected with the main system of the robot, connected with the mobile base, used for autonomous mapping, positioning, and navigation;

Medical devices and modules, including: medical imaging devices, scanning devices, scanning radiation mediation devices, radiation protection devices, the medical devices are one or more of the following devices,

X-ray imaging device, direct digital imaging DR device, computerized tomography imaging CT device, magnetic resonance MR device, PET positron emission computed tomography imaging device,

X-ray imaging device, direct digital imaging DR device includes:

The X-ray emitting device is an X-ray generator for generating X-rays.

The X-ray irradiation scanning device is connected with the main system of the robot and integrated with the robot arm, as a scanning device for scanning the robot arm, emitting X-rays, and the scanning robot arm is used to collect medical images;

X-ray imaging devices are used to examine the brain, cervical spine, lumbar spine, thoracic spine, and bone joints;

The flat-panel detection device is used to receive X-rays and assist in the collection of X-ray images. The flat-panel detection device is detachable and connected to the information verification robot arm to receive X-rays and assist in the collection of X-ray images. The flat-panel detection device is connected to the information verification robot arm and is detachable. The robot main system and the remote client control the robot arm and the flat-panel detection device to split, combine, and move;

CT device, computerized tomography imaging device, the computerized tomography imaging device, connected with the scanning device and the main robot system, is used to check the cranium, cervical cone, lumbar spine, thoracic spine, abdomen, bone joints, heart;

MRI device, magnetic resonance device, the magnetic resonance device, connected with the scanning device, connected with the robot main system, is used to examine the cranium, cervical cone, lumbar spine, thoracic spine, bone, cartilage, soft tissue, muscle, chest, blood vessel, abdomen, bones and joints, heart;

PET device, positron emission computed tomography imaging device, said positron emission tomography imaging device, connected with scanning device, with robot main system, is used for examining cranium, cervical cone, lumbar spine, thoracic spine, bone, cartilage , soft tissue, muscle, chest, blood vessels, abdomen, bone joints, heart;

Scanning and irradiation mediation device, used for scanning, irradiating parts, mediating the position, height, angle, direction and various scanning irradiation parameters of bones and joints;

Radiation protection device for radiation protection;

A visual collection device and a visual recognition module, used for collecting images, videos, and identifying images and videos;

Robotic arms, including scanning robotic arms and information verification robotic arms, are used to collect medical images, scan and read information;
A medical robot device, system and method, characterized in that the voice device and the voice module, the main system of the robot is connected with the voice device for collecting and recognizing sounds, voice interaction between users and administrators, voice commands, voice queries diagnosis and voice guidance;
A medical robot device, system and method, characterized in that, a communication module, a remote control and autonomous control image acquisition module, the communication module is connected with the robot main system and a remote client, and the communication module includes, wireless communication Module, Bluetooth communication module, wired Internet communication module, radio frequency communication, one or more communication methods in radio communication;
A medical robot device, system and method, characterized in that the medical device includes: a medical imaging device, a scanning device, a scanning irradiation mediation device, a radiation protection device,

The medical device is one or more of the following devices,

X-ray imaging device, direct digital imaging DR device, computerized tomography imaging CT device, magnetic resonance MR device, PET positron emission computed tomography imaging device;
A medical robot device, system and method, characterized in that the robotic arm can be controlled remotely and autonomously, and the robotic arm includes a scanning robotic arm, an information verification robotic arm, a scanning robotic arm and The scanning device collects medical images, the remote control is through the administrator, the user remotely controls and mediates the setting parameters, the self-control scanning device collects medical images, and the neural network and its improved method are used to train actions and self-adaptive mediation scanning Check the device parameters, set the action planning parameters for action planning, and realize the acquisition of medical images and videos. The acquisition modules include: medical images and video acquisition modules;

The scanning robot arm is connected with the robot main system and integrated with the robot arm;

The information verification robot arm can be stretched and retracted autonomously, and is connected with the robot main system;
A medical robot device, system and method, characterized in that the scanning and irradiation mediation device, the scanning and irradiation mediation device is integrated with the scanning robot arm and connected with the main system of the robot, so that the medical object can be scanned according to the standard scanning requirements , move up and down and rotate the scanning robot arm to mediate the position, height, angle and direction of bones and joints in the irradiation part of the scanning task;
A medical robot device, system and method, characterized in that it is an information collection and reading device, and the information collection and reading device includes: an information collection device, an information scanning device, and the reading device is connected with an information verification robot arm, as Information reading robot arm, used to scan digital codes, two-dimensional codes, RFID, biometrics, intelligent identification to read two-dimensional codes, digital codes, text, logos, biological information, RFID information, patients, user information;
A medical robot device, system and method, characterized in that, a visual acquisition device and a visual recognition module, the robot main system is connected to the visual acquisition device for collecting images, videos, identifying images, and videos. The visual acquisition device Including: plane vision device, depth vision device;

Visual recognition module, including: planar vision device and planar image recognition, depth vision device and depth image recognition, used for image and video recognition,

Planar vision devices and planar image recognition include: face image recognition, facial features image recognition, human body feature recognition, medical scene recognition,

Depth vision device and depth image recognition include: bone image, joint image, feature position recognition, key joint position and other special feature recognition of the human body, combined with positioning, scanning of human organs;
A medical robot device, system and method, characterized in that the fusion of radar and vision device is used for autonomous mapping, positioning, navigation, and the connection between radar and mobile base is used for moving, mobile base, radar, vision device, and robot Main system connection for autonomous positioning, navigation and movement;
A medical robot device, system and method, characterized in that the fusion of plane images and depth vision images intelligently recognizes human facial features, bones, joints, organs, tissues, human body features and their positions, and the method is to Plane visual image, deep image fusion, intelligent recognition of human body features, organs, bones, joints, human body feature points and their positions, a method for autonomous positioning, scanning and inspection of organ tissues, and a method for intelligently identifying corresponding organ diseases and disease masks. The method includes the following step:

S1. According to the scanning task, read the organs and tissues that need to be scanned;

S2. Establishing a plane image model, a feature model, a human organ model and a plane image model including: face, facial features, neck, nipples, breasts, navel, characteristic genitalia, characteristic parts and their positions as feature items, using neural network algorithm And its improved method, intelligent recognition of human body feature points and their positions;

S3. Establish depth vision device and depth vision image model, bone model, including: head bones, facial bones, skull, neck bones, vertebrae, scapula, shoulder joints, shoulder bones, sternum, ribs, thoracic spine, waist bones, Spine, sacrum, coccyx, left and right upper limb bones, elbow joints, wrist joints, hand joints, waist joints, knee joints, ankle joints, foot joints and their positions are used as feature items, using neural network algorithms and their improved methods to intelligently identify bones and For its position, the depth information and the position information of the human body where the skeleton is located and the information of the adjacent characteristic organs identified by the general image model described in S1 are combined as the feature items of the bone intelligent recognition model as input items;

S4. Intelligently identify the characteristic parts and positions of human organs, intelligently identify the organs that need to be scanned and inspected, and the bones near the tissue and their positions to assist in the positioning of organs;

S5. Delineate the part to be scanned, scan area, return to scan range, position area, collect position coordinates, autonomous positioning, and move the device;

S6. According to the returned coordinates, according to the scanning task, the medical imaging device and the scanning device are positioned independently, and moved to the position of the tissue and organ, the corresponding organ and bone;

S7. Scanning the corresponding organs and bones autonomously to obtain images of the organs and bones;

S8. Create disease models corresponding to various organs, tissues, and parts, and establish a mathematical model for image recognition;

S9. Extracting the appearance features of the disease and the graphic features of the organ image, including: the outline, color, texture, grayscale contrast, shape, position, color, structure and graphical feature items of the disease of the organ;

S10. Use the improved deep neural network to adjust the weight parameters to obtain the output value, and identify the normal signs or diseases of the corresponding organ according to the range of the output value, and intelligently identify the organ and its disease;

S11. Intelligently mark the disease mask of the disease on the image, and the position of the suspected disease mask;