CN-121999035-A - Carbon dioxide laser debridement positioning device and control method

CN121999035ACN 121999035 ACN121999035 ACN 121999035ACN-121999035-A

Abstract

The application provides a carbon dioxide laser debridement positioning device and a control method, which are characterized in that a gray level modulation factor is determined by the self-adaptive gray level base of gray level pixel points according to a target detection gray level image, gray level modulation characteristic quantity corresponding to the gray level pixel points is determined by the self-adaptive gray level base, gray level modulation characteristic quantity corresponding to the gray level pixel points is determined according to the gray level modulation factor, gray level modulation characteristic quantity corresponding to the rest gray level pixel points in the target detection gray level image is repeatedly determined, adjacent pixel modulation entropy of each gray level modulation characteristic quantity is determined, a plurality of debridement strategy domains are determined by all adjacent pixel modulation entropy, debridement positioning decision values of each debridement strategy domain are determined, debridement positioning boundaries of debridement targets are determined according to all debridement positioning decision values, and the debridement operation position of the carbon dioxide laser debridement equipment is marked by the debridement positioning boundaries.

Inventors

JIANG BO

Assignees

西南医科大学附属医院

Dates

Publication Date: 20260508
Application Date: 20231225

Claims (10)

1. The control method of the carbon dioxide laser debridement positioning device is characterized by comprising the following steps: starting a carbon dioxide laser debridement positioning device to acquire a target detection gray level image of a debridement target; Selecting one gray pixel point in the target detection gray image, determining an adaptive gray base of the gray pixel point according to the target detection gray image, determining a gray modulation factor through the adaptive gray base, determining a gray modulation characteristic quantity corresponding to the gray pixel point according to the gray modulation factor, repeating the steps, and determining gray modulation characteristic quantity corresponding to the rest gray pixel points in the target detection gray image; determining adjacent pixel modulation entropy of each gray modulation characteristic quantity, and determining a plurality of debridement domains through all adjacent pixel modulation entropy; Determining a debridement positioning decision value of each debridement positioning domain, and determining a debridement positioning boundary of a debridement target according to all debridement positioning decision values; and marking the debridement operation position of the carbon dioxide laser debridement equipment through the debridement positioning boundary.
2. The method of claim 1, wherein determining the adaptive gray scale basis for the gray scale pixel from the target detected gray scale image comprises: determining a pixel assimilation sliding window of the gray pixel point according to the target detection gray image; determining each pixel assimilation determination value of the gray scale pixel point through the pixel assimilation sliding window; And determining the self-adaptive gray base of the gray pixel point according to all the pixel assimilation judging values.
3. The method of claim 1, wherein determining the adjacent pixel modulation entropy of each gray-scale modulation feature comprises: sequencing all the gray-scale modulation characteristic quantities to obtain a gray-scale modulation characteristic sequence; Selecting one gray-scale modulation characteristic quantity in the gray-scale modulation characteristic sequence; determining gray-scale modulation characteristic difference between the gray-scale modulation characteristic quantity and gray-scale modulation characteristic quantities adjacent to the left side and the right side; And determining the adjacent pixel modulation entropy of the gray modulation characteristic quantity according to the obtained two gray modulation characteristic quantity.
4. The method of claim 1, wherein determining a plurality of debridement domains by all adjacent pixel modulation entropy is accomplished by: determining a target detection pixel modulation image corresponding to the target detection gray level image according to all adjacent pixel modulation entropy; Selecting one adjacent pixel modulation entropy in the target detection pixel modulation image, and determining each pixel modulation entropy difference of the adjacent pixel modulation entropy; Dividing the adjacent pixel modulation entropy according to all pixel modulation entropy differences to obtain a cleaning strategy domain corresponding to the adjacent pixel modulation entropy, repeating the steps, and dividing the rest adjacent pixel modulation entropy in the target detection pixel modulation image to obtain a plurality of cleaning strategy domains.
5. The method of claim 4, wherein dividing the neighboring pixel modulation entropy according to all pixel modulation entropy differences to obtain the debridement domain corresponding to the neighboring pixel modulation entropy is implemented by: Determining a minimum pixel modulation entropy difference of the adjacent pixel modulation entropy according to all pixel modulation entropy differences; Dividing and judging the minimum pixel modulation entropy difference, if the minimum pixel modulation entropy difference is larger than a preset dividing threshold value, calibrating the gray-scale pixel point corresponding to the adjacent pixel modulation entropy in the target detection gray-scale image as abnormal dividing, and deleting the corresponding gray-scale pixel point in the target detection gray-scale image; And if the pixel modulation entropy minimum difference is smaller than or equal to a preset dividing threshold value, forming a corresponding cleaning strategy domain of the adjacent pixel modulation entropy by using gray pixel points corresponding to the adjacent pixel modulation entropy and the pixel modulation entropy minimum difference in the target detection gray image.
6. The method of claim 1, wherein determining a debridement positioning decision value for each debridement positioning domain is accomplished by: acquiring the w in the v-th debridement domain Gray pixel value of gray pixel point Determining the total number W of gray pixel points in the v-th debridement domain; determining a color correction factor θ v for the v-th debridement domain; Determining a standard gray pixel value X * of a debridement target; gray pixel value according to the W gray pixel point in the v-th cleaning domain The total number W of gray pixel points in the v-th cleaning and planning domain, the standard gray pixel value X * of the cleaning and planning target and the color correction factor theta v of the v-th cleaning and planning domain determine the cleaning and planning positioning decision value of each cleaning and planning domain, wherein the cleaning and planning positioning decision value is determined by adopting the following formula: Wherein Z v represents a debridement positioning decision value for the v-th debridement policy domain, w=1, 2.
7. The method of claim 1, wherein determining the debridement positioning bound for the debridement objective based on all debridement positioning decision values is accomplished by: Selecting one debridement positioning decision value; when the debridement positioning decision value is smaller than or equal to a preset debridement positioning decision threshold value, marking a debridement area by a debridement positioning domain corresponding to the debridement positioning decision value; when the debridement positioning decision value is larger than a preset debridement positioning decision threshold value, marking a debridement positioning domain corresponding to the debridement positioning decision value as a normal region, and not processing; Repeating the steps, marking the debridement strategy domains corresponding to the rest debridement positioning decision values to obtain a plurality of debridement areas, and forming debridement positioning boundaries of debridement targets by all debridement areas.
8. The utility model provides a carbon dioxide laser debridement positioner which characterized in that, including intelligent control unit, intelligent control unit includes: the target detection gray level image acquisition module is used for acquiring a target detection gray level image of the debridement target after the carbon dioxide laser debridement positioning device is started; The gray modulation characteristic quantity determining module is used for selecting one gray pixel point in the target detection gray image, determining an adaptive gray base of the gray pixel point according to the target detection gray image, determining a gray modulation factor through the adaptive gray base, determining a gray modulation characteristic quantity corresponding to the gray pixel point according to the gray modulation factor, repeating the steps, and determining gray modulation characteristic quantities corresponding to the rest gray pixel points in the target detection gray image; an debridement domain determining module for determining adjacent pixel modulation entropy of each gray-scale modulation feature quantity, and determining a plurality of debridement domains through all adjacent pixel modulation entropy; the debridement positioning boundary determining module is used for determining debridement positioning decision values of each debridement positioning domain and determining debridement positioning boundaries of debridement targets according to all debridement positioning decision values; and the positioning marking module is used for marking the debridement operation position of the carbon dioxide laser debridement equipment through the debridement positioning boundary.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, carries out the steps of the method of controlling a carbon dioxide laser debridement positioning apparatus according to any one of claims 1 to 7.
10. A computer-readable storage medium storing a computer program, characterized in that the computer program, when executed by a processor, implements the steps of the control method of the carbon dioxide laser debridement positioning apparatus according to any one of claims 1 to 7.

Description

Carbon dioxide laser debridement positioning device and control method Technical Field The application relates to the technical field of intelligent positioning, in particular to a carbon dioxide laser debridement positioning device and a control method. Background Intelligent positioning generally refers to a process of accurate positioning or real-time positioning by using intelligent technologies such as artificial intelligence, machine learning, sensor technology, etc., which may include various applications in different fields such as navigation systems, logistics management, indoor positioning, intelligent transportation, etc., and the development of intelligent positioning not only improves the accuracy of location awareness, but also brings more efficient operations and services for many industries. The carbon dioxide laser debridement is a method for cleaning a target by utilizing a laser technology, the method uses a carbon dioxide laser to generate laser beams which act on the target tissue in a highly focused and accurate mode, the carbon dioxide laser debridement is widely applied in the medical field, in the prior art, professionals are often required to manually judge the position of the debridement target, if the professional work fatigue generates misjudgment, tissues beyond the debridement target are easily damaged, and therefore, how to intelligently position the debridement target becomes a difficult problem faced by the industry. Disclosure of Invention Accordingly, in view of the above-mentioned problems, the present application provides a carbon dioxide laser debridement positioning device and a control method for intelligently positioning a debridement target. In order to solve the technical problems, the application adopts the following technical scheme: In a first aspect, the application provides a control method of a carbon dioxide laser debridement positioning device, comprising the following steps: starting a carbon dioxide laser debridement positioning device to acquire a target detection gray level image of a debridement target; Selecting one gray pixel point in the target detection gray image, determining an adaptive gray base of the gray pixel point according to the target detection gray image, determining a gray modulation factor through the adaptive gray base, determining a gray modulation characteristic quantity corresponding to the gray pixel point according to the gray modulation factor, repeating the steps, and determining gray modulation characteristic quantity corresponding to the rest gray pixel points in the target detection gray image; determining adjacent pixel modulation entropy of each gray modulation characteristic quantity, and determining a plurality of debridement domains through all adjacent pixel modulation entropy; Determining a debridement positioning decision value of each debridement positioning domain, and determining a debridement positioning boundary of a debridement target according to all debridement positioning decision values; and marking the debridement operation position of the carbon dioxide laser debridement equipment through the debridement positioning boundary. In some embodiments, determining the adaptive gray basis for the gray pixel from the target detection gray image specifically includes: determining a pixel assimilation sliding window of the gray pixel point according to the target detection gray image; determining each pixel assimilation determination value of the gray scale pixel point through the pixel assimilation sliding window; And determining the self-adaptive gray base of the gray pixel point according to all the pixel assimilation judging values. In some embodiments, determining the adjacent pixel modulation entropy of each gray modulation feature quantity specifically includes: sequencing all the gray-scale modulation characteristic quantities to obtain a gray-scale modulation characteristic sequence; Selecting one gray-scale modulation characteristic quantity in the gray-scale modulation characteristic sequence; determining gray-scale modulation characteristic difference between the gray-scale modulation characteristic quantity and gray-scale modulation characteristic quantities adjacent to the left side and the right side; And determining the adjacent pixel modulation entropy of the gray modulation characteristic quantity according to the obtained two gray modulation characteristic quantity. In some embodiments, determining the plurality of debridement domains by all adjacent pixel modulation entropy is accomplished by: determining a target detection pixel modulation image corresponding to the target detection gray level image according to all adjacent pixel modulation entropy; Selecting one adjacent pixel modulation entropy in the target detection pixel modulation image, and determining each pixel modulation entropy difference of the adjacent pixel modulation entropy; Dividing the adjacent pixel modulation entropy acco