CN115376675A - Image acquisition control method and device, storage medium, processor and terminal equipment - Google Patents
Image acquisition control method and device, storage medium, processor and terminal equipment Download PDFInfo
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Abstract
The invention discloses an image acquisition control method, an image acquisition control device, a storage medium, a processor and terminal equipment, wherein the image acquisition control method comprises the following steps: acquiring position information of a surgical instrument; determining an operation area according to the position information of the surgical instrument; and adjusting the posture of the operation microscope according to the operation area so that the operation area is included in the image acquired by the operation microscope. Therefore, the operation microscope can track the operation area guided by the operation instrument to image in the operation process, and the problem that the visual field of the operation microscope is inconvenient to switch is solved. The posture of the surgical microscope can be adjusted again according to the position of the image of the surgical instrument in the acquired image, and further adaptive adjustment of image optimization is performed within a small range, so that the surgical microscope can acquire a high-quality image, and the operation can be performed efficiently, smoothly and accurately.
Description
Technical Field
The invention relates to the field of image acquisition, in particular to an image acquisition control method, an image acquisition control device, a storage medium, a processor and terminal equipment.
Background
In modern medical surgery, a surgical microscope is generally required to provide a view of a surgical field, so that a doctor can know the condition of a surgical area more intuitively and clearly and the surgery is convenient to perform.
In the related art, when using the surgical microscope, a doctor needs to manually adjust posture parameters such as a position and an angle of the surgical microscope, so that the surgical microscope can smoothly acquire an image of a desired surgical site. When different operation positions need to be observed to obtain different visual field ranges, doctors need to manually adjust the position and the angle of the operation microscope many times, so that the operation is complex, the use is inconvenient, the energy of the doctors is dispersed easily, and the operation speed and the operation quality are influenced.
In view of the above problems, no effective solution has been proposed.
The above information disclosed in the background section is only for enhancement of understanding of the background of the technology described herein. The background art may therefore contain certain information that does not form the known prior art to those skilled in the art.
Disclosure of Invention
The embodiment of the invention provides an image acquisition control method, which at least solves the problem of inconvenient operation when the visual field of an operation microscope is switched in the operation process.
In order to achieve the above object, according to a first aspect of embodiments of the present invention, there is provided an image acquisition control method including: acquiring position information of a surgical instrument; determining an operation area according to the position information of the surgical instrument; and adjusting the posture of the operation microscope according to the operation area so that the operation area is included in the image acquired by the operation microscope.
Further, acquiring position information of the surgical instrument includes: determining position information of the surgical instrument by acquiring an image mark on the surgical instrument; or, the position searching signal transmitted by the external equipment is received by a sensor arranged on the surgical instrument, and the position information of the surgical instrument is determined.
Further, adjusting the posture of the surgical microscope according to the surgical area includes: determining a control scheme according to the matching result of the operation area and the image area acquired by the operation microscope; and adjusting the posture of the operation microscope according to the control scheme.
Further, after adjusting the posture of the surgical microscope according to the surgical area so that the surgical area is included in the image acquired by the surgical microscope, the image acquisition control method further includes an image optimization adjusting step, and the image optimization adjusting step includes at least one of: adjusting the posture of the surgical microscope within a first predetermined range to optimize the quality of the image acquired by the surgical microscope; adjusting the magnification of the surgical microscope within a second predetermined range to optimize the quality of the image acquired by the surgical microscope; and adjusting the supplementary lighting intensity of the surgical microscope within a third preset range to optimize the quality of the image acquired by the surgical microscope.
Further, adjusting the pose of the surgical microscope within a first predetermined range includes: the position of the surgical microscope is adjusted within a predetermined distance range and/or the angle of the surgical microscope is adjusted within a predetermined angle range.
Further, after adjusting the posture of the surgical microscope according to the surgical area so that the surgical area is included in the image acquired by the surgical microscope, before the image optimization adjusting step, the image acquisition control method further includes: determining the position of the image of the surgical instrument in the image acquired by the surgical microscope according to the image acquired by the surgical microscope; and adjusting the posture of the surgical microscope according to the position of the image of the surgical instrument in the image acquired by the surgical microscope.
Further, adjusting the pose of the surgical microscope according to the position of the image of the surgical instrument in the image captured by the surgical microscope includes: determining the position of the image of the operation area in the image acquired by the operation microscope according to the position of the image of the surgical instrument in the image acquired by the operation microscope; and adjusting the posture of the operation microscope according to the position of the image of the operation area in the image acquired by the operation microscope.
According to a second aspect of the embodiments of the present invention, there is provided an image acquisition control apparatus including: an acquisition unit configured to acquire position information of a surgical instrument; a first determination unit configured to determine an operation region based on position information of the surgical instrument; and the adjusting unit is used for adjusting the posture of the operation microscope according to the operation area so as to enable the image acquired by the operation microscope to include the operation area.
According to a third aspect of the embodiments of the present invention, there is provided a nonvolatile storage medium including a stored program, wherein an apparatus in which the nonvolatile storage medium is controlled when the program is executed performs the above-described image acquisition control method.
According to a fourth aspect of the embodiments of the present invention, there is provided a processor, configured to execute a program, where the program executes the image acquisition control method when running.
According to a fifth aspect of embodiments of the present invention, there is provided a terminal device including a robot arm, a surgical microscope, a memory, a processor, and a computer program stored in the memory and executable on the processor; the operating microscope is arranged on the mechanical arm, and the processor is in communication connection with the mechanical arm so as to control the action of the mechanical arm; the processor implements the image acquisition control method when executing the computer program.
The image acquisition control method applying the technical scheme of the invention comprises the following steps: acquiring position information of a surgical instrument; determining an operation area according to the position information of the surgical instrument; and adjusting the posture of the operation microscope according to the operation area so that the operation area is included in the image acquired by the operation microscope. Through the position that acquires surgical instruments and then confirm the operation region, according to operation region adjustment surgical microscope's gesture, make including the operation region in the image that surgical microscope gathered, can make surgical microscope keep the image acquisition to the operation region position that surgical instruments guided for the field of vision follows surgical instruments's removal and adjusts, has made things convenient for surgical instruments's among the operation process field of vision to switch effectively, is favorable to making things convenient for going on of operation.
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The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention and do not constitute a limitation of the invention. In the drawings:
FIG. 1 is a schematic flow chart diagram of an alternative embodiment of an image acquisition control method according to the present invention;
FIG. 2 is a schematic flow chart diagram of another alternative embodiment of an image acquisition control method in accordance with the present invention;
FIG. 3 is a schematic diagram of an alternative embodiment of an image acquisition control apparatus according to the present invention;
fig. 4 is a schematic view of another alternative embodiment of an image acquisition control apparatus according to the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, 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 invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Moreover, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It will be understood that when an element such as a layer, film, region, or substrate is referred to as being "on" another element, it can be directly on the other element or intervening elements may also be present. Also, in the specification and claims, when an element is described as being "connected" to another element, the element may be "directly connected" to the other element or "connected" to the other element through a third element.
Fig. 1 and 2 are image acquisition control methods according to embodiments of the present invention, as shown in fig. 1, the method including the steps of:
step S102, acquiring position information of surgical instruments;
step S104, determining an operation area according to the position information of the surgical instrument;
and S106, adjusting the posture of the operation microscope according to the operation area so that the image acquired by the operation microscope comprises the operation area.
The image acquisition control method adopting the scheme comprises the following steps: acquiring position information of a surgical instrument; determining an operation area according to the position information of the surgical instrument; and adjusting the posture of the operation microscope according to the operation area so that the operation area is included in the image acquired by the operation microscope. Through the position that acquires surgical instruments and then confirm the operation region, according to operation region adjustment surgical microscope's gesture, make including the operation region in the image that surgical microscope gathered, can make surgical microscope keep the image acquisition to the operation region position that surgical instruments guided for the field of vision follows surgical instruments's removal and adjusts, has made things convenient for surgical microscope's field of vision to switch effectively among the operation process, is favorable to making things convenient for going on of operation.
In the embodiment, the mechanical arm automatically adjusts the posture of the surgical microscope according to the surgical area guided by the surgical instrument, so that manual operation is further reduced, and the improvement of the surgical efficiency is facilitated.
The pose of the surgical microscope includes a position and/or an orientation, that is, adjusting the pose of the surgical microscope may be adjusting the position of the surgical microscope, adjusting the orientation of the surgical microscope, or adjusting the position and orientation of the surgical microscope.
Depending on the particular situation, a flexible strategy may be employed to determine the surgical field based on the position information of the surgical instrument. For example, an outer enclosure frame of a predetermined size is defined as the operation region centering on the position of the surgical instrument, and the outer enclosure frame may be a frame of an arbitrary shape. For another example, the position information of the surgical instrument may be input to a judgment model trained in advance and processed, and the surgical region may be directly obtained.
Specifically, acquiring the position information of the surgical instrument comprises the following steps: determining position information of the surgical instrument by acquiring an image mark on the surgical instrument; or, the position searching signal transmitted by the external equipment is received by a sensor arranged on the surgical instrument, and the position information of the surgical instrument is determined.
The position information of the surgical instrument is determined by receiving a position searching signal transmitted by an external device through a sensor arranged on the surgical instrument, wherein the sensor can be an infrared sensor, a heat sensor, a magnetic sensor and the like, and the sensor can receive the signal to play a positioning function. Of course, the above-mentioned manner of acquiring the position information of the surgical instrument by means of image markers or sensors is only an exemplary scheme, and other schemes capable of positioning the surgical instrument are all possible.
Specifically, adjusting the posture of the surgical microscope according to the surgical area includes: determining a control scheme according to the matching result of the operation area and the image area acquired by the operation microscope; and adjusting the posture of the operation microscope according to the control scheme.
And planning a control scheme according to the matching result of the image area acquired by the operation microscope and the operation area, wherein the planned control scheme can be one scheme or a plurality of schemes. In this embodiment, a plurality of control schemes are planned according to a matching result of an image region acquired by the surgical microscope and the surgical region, one control scheme is selected from the plurality of control schemes as a target scheme, and the posture of the surgical microscope is adjusted according to the target scheme. Preferably, the control scheme which minimizes the moving distance and the adjusting angle of the surgical microscope is selected from a plurality of control schemes as the target scheme, so that the surgical microscope can be rapidly adjusted, and the surgical efficiency is improved.
Specifically, after the posture of the surgical microscope is adjusted according to the surgical area so that the surgical area is included in the image acquired by the surgical microscope, the image acquisition control method further includes an image optimization adjusting step S112, and the image optimization adjusting step S112 includes at least one of: adjusting the posture of the surgical microscope within a first predetermined range to optimize the quality of the image acquired by the surgical microscope; adjusting the magnification of the surgical microscope within a second predetermined range to optimize the quality of the image acquired by the surgical microscope; and adjusting the supplementary lighting intensity of the surgical microscope within a third preset range to optimize the quality of the image acquired by the surgical microscope. The light supplement intensity of the surgical microscope is the intensity of light rays emitted to the image acquisition area by the light supplement of the surgical microscope and the like, and is used for illuminating the surgical area to obtain a clearer image.
Through the posture of the operation microscope in the first preset range, the magnification of the operation microscope in the second preset range and the light supplement intensity of the operation microscope in the third preset range, the image acquisition quality can be accurately finely adjusted on the basis of rough adjustment and fine adjustment, and therefore the quality of the image acquired by the operation microscope can be further optimized in the nearby range. The evaluation index of the image quality of the surgical microscope can be flexibly set according to specific requirements, for example, it can be defined that the image quality is better when the geometric center of the surgical instrument is closer to the positive center of the image acquired by the surgical microscope; the closer the size proportion of the image acquired by the surgical microscope occupied by the surgical instrument is to the preset proportion, the better the image quality is; the closer the average brightness of the image is to the preset brightness, the better the image quality.
Specifically, adjusting the posture of the surgical microscope within a first predetermined range includes: the position of the surgical microscope is adjusted within a predetermined distance range, and/or the angle of the surgical microscope is adjusted within a predetermined angle range.
After the surgical instrument is included in an image acquired by the surgical microscope, taking the position of the surgical microscope as a, the angle as b and the magnification as c as examples, adjusting the position of the surgical microscope within a preset distance range, adjusting the angle of the surgical microscope within a preset angle range, namely adjusting the position of the surgical microscope within a +/-delta x position range, and adjusting the angle of the surgical microscope within a +/-delta y angle range; adjusting the magnification of the surgical microscope within a second predetermined range, i.e., within a range of c ± Δ z. Wherein the initial magnification of the surgical microscope is pre-configured.
Specifically, after the step S106 adjusts the posture of the surgical microscope according to the surgical area so that the surgical area is included in the image acquired by the surgical microscope, before the step S112 of image optimization adjustment, the image acquisition control method further includes:
step S108, determining the position of the image of the surgical instrument in the image acquired by the surgical microscope according to the image acquired by the surgical microscope;
step S110, adjusting the posture of the surgical microscope according to the position of the image of the surgical instrument in the image acquired by the surgical microscope.
By adopting the arrangement, after the posture of the operation microscope is roughly adjusted according to the position information of the operation instrument, the posture of the operation microscope is finely adjusted by combining the image information acquired by the operation microscope so as to optimize the image quality and better ensure the acquisition effect of the operation microscope.
Specifically, adjusting the posture of the surgical microscope according to the position of the image of the surgical instrument in the image acquired by the surgical microscope includes: determining the position of the image of the operation area in the image acquired by the operation microscope according to the position of the image of the surgical instrument in the image acquired by the operation microscope; and adjusting the posture of the operation microscope according to the position of the image of the operation area in the image acquired by the operation microscope.
After the operation microscope acquires the image, the position of the image of the operation area in the image can be determined according to the position of the image of the operation instrument in the image, and the specific determination method can be flexibly selected according to the actual situation, for example, the outer enclosure frame of the operation instrument in the acquired image is enlarged by a preset multiple to be used as the operation area, and the outer enclosure frame can be a frame in any shape. For another example, the image information may be input to a judgment model trained in advance and processed, and the surgical region may be directly obtained.
Preferably, after step S112, the image acquisition control method further includes:
and step S114, circularly executing step S102, step S104, step S106, step S108, step S110 and step S114 when the image quality acquired by the surgical microscope does not meet the preset standard. Therefore, the final acquired image of the operating microscope can meet the preset standard, and the image acquisition quality is ensured.
In the following, a specific application scenario of the image acquisition control method will be described according to a specific embodiment:
in the operation process, a doctor holds the surgical instrument by hand and performs an operation on a part of a patient body needing the operation, and the method determines an operation area according to the position information of the surgical instrument by acquiring the position information of the surgical instrument and then adjusts the posture of the operation microscope according to the operation area so that the image acquired by the operation microscope comprises the operation area. That is to say, in the operation process, the posture of the operation microscope is adjusted in real time according to the operation area guided by the operation instrument, and the operation microscope can track the operation area guided by the operation instrument in real time, so that the operation microscope can constantly ensure the obtaining effect of the image of the operation position, and the adjustment of the operation microscope is facilitated.
In order to further improve the image acquisition effect of the surgical microscope, after the image is acquired by the surgical microscope, the posture of the surgical microscope is secondarily adjusted according to the position of the image of the surgical instrument in the image acquired by the surgical microscope, so that the adjustment of the surgical microscope is more precise, and the imaging effect is better.
On the basis, the image optimization and adjustment step is carried out again, the posture of the surgical microscope is adjusted in the first preset range, the magnification of the surgical microscope is adjusted in the second preset range, and the fill-in light intensity of the surgical microscope is adjusted in the third preset range. Therefore, the imaging quality of the operation microscope is further optimized through the third round of adaptive adjustment, which is beneficial to ensuring that the operation microscope can clean, accurately and effectively acquire the image of the operation area of the doctor in the operation process of the doctor and helps the operation process.
When the method is specifically implemented, the image acquisition control method can be used in combination with a surgical navigation method, a body model of a patient is established through medical images of the patient acquired before an operation, and surgical instruments are displayed and updated in the body model in real time in the operation process, so that doctors can conveniently and accurately determine the accurate position relation between the surgical instruments and the body of the patient, and the method has a good guiding significance for smooth operation.
As shown in fig. 3 and 4, an embodiment of the present invention further provides an image acquisition control apparatus, including: an acquisition unit configured to acquire position information of a surgical instrument; a first determination unit configured to determine an operation region based on the position information of the surgical instrument; and the adjusting unit is used for adjusting the posture of the operation microscope according to the operation area so as to enable the image acquired by the operation microscope to include the operation area.
The position of the surgical instrument is acquired through the acquisition unit, the surgical area is determined through the first determination unit, the posture of the surgical microscope is adjusted through the adjustment unit according to the surgical area, the surgical area is included in an image acquired by the surgical microscope, the surgical microscope can keep image acquisition of the surgical area guided by the surgical instrument, the visual field is adjusted along with the movement of the surgical instrument, the visual field switching of the surgical microscope in the surgical process is effectively facilitated, and the operation is facilitated.
The image acquisition control device further comprises a mechanical arm, and the adjusting unit adjusts the posture of the surgical microscope by controlling the action of the mechanical arm, so that the manual operation is further reduced, and the improvement of the surgical efficiency is facilitated. In order to ensure that the mechanical arm has higher flexibility and meet the requirements during operation, the mechanical arm is a multi-axis mechanical arm, preferably, the mechanical arm is a six-axis mechanical arm or a seven-axis mechanical arm.
The pose of the surgical microscope includes a position and/or an orientation, that is, adjusting the pose of the surgical microscope may be adjusting the position of the surgical microscope, adjusting the orientation of the surgical microscope, or adjusting the position and orientation of the surgical microscope.
Specifically, the acquisition unit is used for determining the position information of the surgical instrument by acquiring the image mark on the surgical instrument; or, the position searching signal transmitted by the external equipment is received by a sensor arranged on the surgical instrument, and the position information of the surgical instrument is determined.
The position information of the surgical instrument is determined by receiving a position searching signal transmitted by an external device through a sensor arranged on the surgical instrument, wherein the sensor can be an infrared sensor, a heat sensor, a magnetic sensor and the like, and the sensor can receive the signal to play a positioning function. Of course, the above-mentioned manner of acquiring the position information of the surgical instrument by means of image markers or sensors is only an exemplary scheme, and other schemes capable of positioning the surgical instrument are all possible.
Specifically, the adjusting unit comprises a first determining module and an adjusting module, wherein the first determining module is used for determining a control scheme according to a matching result of an operation area and an image area acquired by the operation microscope; the adjusting module is used for adjusting the posture of the operation microscope according to the control scheme.
Specifically, the adjusting module comprises a state intelligent identification submodule, a state analysis comparison submodule and a drive control submodule, wherein the state intelligent identification submodule is used for matching the operation area with the image area acquired by the operation microscope to obtain a matching result of the operation area and the image area acquired by the operation microscope; the state analysis and comparison sub-module is used for analyzing the matching result of the operation area and the image area acquired by the operation microscope and determining a control scheme; the drive control submodule is used for controlling the action of the mechanical arm according to a control scheme, so that the posture of the surgical microscope is adjusted.
Specifically, the adjusting unit further comprises an adaptive adjusting module, and the adaptive adjusting module is configured to perform at least one of the following operations after adjusting the posture of the surgical microscope according to the surgical region so that the surgical region is included in the image acquired by the surgical microscope: controlling the drive control submodule to adjust the posture of the surgical microscope within a first preset range so as to optimize the quality of the image acquired by the surgical microscope; controlling the drive control sub-module to adjust the magnification of the surgical microscope within a second preset range so as to optimize the quality of the image acquired by the surgical microscope; and adjusting the supplementary lighting intensity of the surgical microscope within a third preset range to optimize the quality of the image acquired by the surgical microscope.
By adjusting the posture of the surgical microscope in the first preset range and adjusting the magnification of the surgical microscope in the second preset range, the image acquisition quality can be accurately finely adjusted on the basis of coarse adjustment and fine adjustment, so that the quality of the image acquired by the surgical microscope can be further optimized in a nearby range. The evaluation index of the image quality of the surgical microscope may be flexibly set according to specific requirements, for example, it may be defined that the image quality is better when the geometric center of the surgical instrument is closer to the midpoint of the image acquired by the surgical microscope, and the image quality is better when the size proportion of the image acquired by the surgical microscope occupied by the surgical instrument is closer to a preset proportion.
Specifically, adjusting the posture of the surgical microscope within a first predetermined range includes: the position of the surgical microscope is adjusted within a predetermined distance range, and/or the angle of the surgical microscope is adjusted within a predetermined angle range.
After the posture of the surgical microscope is adjusted according to the image information collected by the surgical microscope, taking the position of the surgical microscope as a, the angle as b and the magnification as c as examples, the position of the surgical microscope is adjusted within a preset distance range, the angle of the surgical microscope is adjusted within a preset angle range, namely the position of the surgical microscope is adjusted within a +/-delta x position range, and the angle of the surgical microscope is adjusted within a +/-delta y angle range; adjusting the magnification of the surgical microscope within a second predetermined range, i.e., within a range of c ± Δ z. Wherein the initial magnification of the surgical microscope is pre-configured.
Specifically, the image acquisition control device further comprises a second determining unit, wherein the second determining unit is used for determining the position of the surgical instrument in the image acquired by the surgical microscope according to the image acquired by the surgical microscope before the image optimization adjusting step after the posture of the surgical microscope is adjusted according to the surgical area so as to enable the surgical area to be included in the image acquired by the surgical microscope; the adjusting unit adjusts the posture of the surgical microscope according to the position of the image of the surgical instrument in the image acquired by the surgical microscope.
By adopting the arrangement, after the posture of the operation microscope is roughly adjusted according to the position information of the surgical instrument, the posture of the operation microscope is finely adjusted by combining the image information collected by the operation microscope, so that the image quality is optimized, and the collection effect of the operation microscope can be better ensured.
Specifically, the adjusting unit includes a second determining module: the second determination module is used for determining the position of the image of the operation area in the image acquired by the operation microscope according to the position of the image of the surgical instrument in the image acquired by the operation microscope; the adjusting module adjusts the posture of the operation microscope according to the position of the image of the operation area in the image acquired by the operation microscope.
After the surgical microscope acquires the image, the position of the image of the surgical area in the image can be determined according to the position of the image of the surgical instrument in the image, and the specific determination device can be flexibly selected according to the actual situation, for example, the external enclosure frame of the surgical instrument in the acquired image is enlarged by a preset multiple to be used as the surgical area, and the external enclosure frame may be a frame in any shape. For another example, the image information may be input to a judgment model obtained by training in advance and processed, and the operation region may be directly obtained.
As shown in fig. 4, a communication connection relationship between structures of each part of the image acquisition control device in this embodiment is shown, where the obtaining unit is connected to the first determining module, the second determining unit is connected to the second determining module, the first determining module and the second determining module are both connected to the state intelligent identifier module, the state intelligent identifier module is connected to the state analysis and comparison module, the state analysis and comparison module and the adaptive adjustment module are both connected to the driving control module, and the driving control module is connected to the robot arm.
In addition, the embodiment of the invention also provides a nonvolatile storage medium, the nonvolatile storage medium comprises a stored program, and when the program runs, the device where the nonvolatile storage medium is located is controlled to execute the image acquisition control method.
The embodiment of the invention further provides a processor, wherein the processor is used for running a program, and the program executes the image acquisition control method when running.
Finally, embodiments of the present invention also provide a terminal device comprising a robotic arm, a surgical microscope, a memory, a processor, and a computer program stored in the memory and executable on the processor; the operating microscope is arranged on the mechanical arm, and the processor is in communication connection with the mechanical arm so as to control the action of the mechanical arm; the processor implements the image acquisition control method described above when executing the computer program.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments. Moreover, the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions, and while a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than here.
In the above embodiments of the present invention, 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 related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technical content can be implemented in other manners. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit may be implemented in the form of hardware, or may also be implemented in the form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and amendments can be made without departing from the principle of the present invention, and these modifications and amendments should also be considered as the protection scope of the present invention.
Claims (11)
1. An image acquisition control method, comprising:
acquiring position information of a surgical instrument;
determining an operation area according to the position information of the surgical instrument;
and adjusting the posture of the operation microscope according to the operation area so that the operation area is included in the image acquired by the operation microscope.
2. The image acquisition control method according to claim 1, wherein acquiring position information of the surgical instrument includes:
determining position information of the surgical instrument by acquiring image markers on the surgical instrument; or,
and receiving a position searching signal transmitted by external equipment through a sensor arranged on the surgical instrument, and determining the position information of the surgical instrument.
3. The image acquisition control method according to claim 1, wherein adjusting the posture of the surgical microscope according to the surgical field comprises:
determining a control scheme according to the matching result of the operation area and the image area acquired by the operation microscope;
adjusting the pose of the surgical microscope according to the control scheme.
4. The image acquisition control method according to any one of claims 1 to 3, characterized in that, after the posture of a surgical microscope is adjusted in accordance with the surgical region so that the surgical region is included in the image acquired by the surgical microscope, the image acquisition control method further includes an image optimization adjustment step including at least one of:
adjusting the pose of the surgical microscope within a first predetermined range to optimize the quality of the image acquired by the surgical microscope;
adjusting the magnification of the surgical microscope within a second predetermined range to optimize the quality of the image acquired by the surgical microscope;
and adjusting the supplementary lighting intensity of the surgical microscope within a third preset range so as to optimize the quality of the image acquired by the surgical microscope.
5. The image acquisition control method according to claim 4, wherein adjusting the posture of the surgical microscope within a first predetermined range includes: adjusting the position of the surgical microscope within a predetermined distance range, and/or adjusting the angle of the surgical microscope within a predetermined angle range.
6. The image acquisition control method according to claim 4, wherein after adjusting a posture of a surgical microscope in accordance with the surgical region so that the surgical region is included in the image acquired by the surgical microscope, before the image optimization adjusting step, the image acquisition control method further comprises:
determining the position of the image of the surgical instrument in the image acquired by the surgical microscope according to the image acquired by the surgical microscope;
and adjusting the posture of the surgical microscope according to the position of the image of the surgical instrument in the image acquired by the surgical microscope.
7. The image capture control method of claim 6, wherein adjusting the pose of the surgical microscope based on the position of the image of the surgical instrument in the image captured by the surgical microscope comprises:
determining the position of the image of the operation area in the image acquired by the operation microscope according to the position of the image of the surgical instrument in the image acquired by the operation microscope;
and adjusting the posture of the operation microscope according to the position of the image of the operation area in the image acquired by the operation microscope.
8. An image acquisition control apparatus, comprising:
an acquisition unit configured to acquire positional information of a surgical instrument;
a first determination unit for determining an operation area according to the position information of the surgical instrument;
and the adjusting unit is used for adjusting the posture of the operation microscope according to the operation area so as to enable the operation area to be included in the image acquired by the operation microscope.
9. A non-volatile storage medium, comprising a stored program, wherein when the program runs, a device in which the non-volatile storage medium is located is controlled to execute the image acquisition control method according to any one of claims 1 to 7.
10. A processor, characterized in that the processor is configured to run a program, wherein the program is configured to execute the image acquisition control method according to any one of claims 1 to 7 when running.
11. A terminal device comprising a robotic arm, a surgical microscope, a memory, a processor, and a computer program stored in the memory and executable on the processor; the operating microscope is mounted on the mechanical arm, and the processor is in communication connection with the mechanical arm so as to control the action of the mechanical arm; the processor, when executing the computer program, implements the image acquisition control method of any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110548475.4A CN115376675A (en) | 2021-05-19 | 2021-05-19 | Image acquisition control method and device, storage medium, processor and terminal equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110548475.4A CN115376675A (en) | 2021-05-19 | 2021-05-19 | Image acquisition control method and device, storage medium, processor and terminal equipment |
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| CN115376675A true CN115376675A (en) | 2022-11-22 |
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| CN202110548475.4A Pending CN115376675A (en) | 2021-05-19 | 2021-05-19 | Image acquisition control method and device, storage medium, processor and terminal equipment |
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| Country | Link |
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| CN (1) | CN115376675A (en) |
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- 2021-05-19 CN CN202110548475.4A patent/CN115376675A/en active Pending
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