CN110075429A - A kind of ultrasonic transducer air navigation aid, navigation device, electronic equipment and readable storage medium storing program for executing - Google Patents
A kind of ultrasonic transducer air navigation aid, navigation device, electronic equipment and readable storage medium storing program for executing Download PDFInfo
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- CN110075429A CN110075429A CN201910345437.1A CN201910345437A CN110075429A CN 110075429 A CN110075429 A CN 110075429A CN 201910345437 A CN201910345437 A CN 201910345437A CN 110075429 A CN110075429 A CN 110075429A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N7/00—Ultrasound therapy
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/42—Simultaneous measurement of distance and other co-ordinates
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N7/00—Ultrasound therapy
- A61N2007/0004—Applications of ultrasound therapy
- A61N2007/0021—Neural system treatment
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N7/00—Ultrasound therapy
- A61N2007/0043—Ultrasound therapy intra-cavitary
Abstract
The present invention provides a kind of ultrasonic transducer air navigation aid, navigation device, electronic equipment and readable storage medium storing program for executing, the ultrasonic transducer air navigation aid includes the predetermined three-dimensional position coordinates for obtaining predetermined ultrasonic transducer and predetermined angular towards vector, and practical ultrasonic transducer real-time three-dimensional position coordinates and real-time angular towards vector；According to the coordinate difference between real-time three-dimensional position coordinates and predetermined three-dimensional position coordinates, the real-time three-dimensional position deviation vector between practical ultrasonic transducer and predetermined ultrasonic transducer is determined；According to real-time angular towards vector sum predetermined angular towards vector, determine real-time angular between practical ultrasonic transducer and predetermined ultrasonic transducer towards bias vector.The present invention can guide ultrasonic transducer to reach scheduled position and angle direction in a manner of more intuitive, reduce the difficulty for adjusting ultrasonic transducers locations and angle in navigation procedure, improve navigation efficiency.
Description
Technical field
The present invention relates to TCD,transcranial Dopplers to stimulate neuromodulation technical field, and in particular to a kind of for essence between real-time overhead
Spend ultrasonic transducer air navigation aid, navigation device electronic equipment and the readable storage medium storing program for executing of TCD,transcranial Doppler stimulation navigation system.
Background technique
Neuromodulation technology is the brains such as brain function research and depression, schizophrenia, cerebral apoplexy, parkinsonism, epilepsy
The important means of disease treatment.
In the time of the past few decades, a variety of neuromodulation technologies have been had already appeared, wherein TCD,transcranial Doppler stimulates (TUS)
Using head tissues such as the low intensive pulse concentration ultrasonic penetration skin of low frequency, skulls, one lesser region of encephalic is focused on,
Realize the neururgic regulation (enhancing or inhibition) to (and brain area associated with the region) in the region.
User can not observe directly focal position of the low-frequency focusing ultrasonic after scalp and skull and preset
Target position needs a suitable navigation system to guide to realize TCD,transcranial Doppler putting for ultrasonic transducer
The contraposition of focal regions and target.
Navigation system needs to guide user that ultrasonic transducer is moved to scheduled position and guarantees its correct angle
Direction.In navigation system, user can be changed by voluntarily adjusting visual angle in virtual three-dimensional space to observe practical ultrasound
The deviation of energy device position and angle direction and predetermined ultrasonic transducers locations and angle direction, while being changed by mobile practical ultrasound
Can device both make to be overlapped, to guarantee that ultrasonic transducer is moved to scheduled position and maintains correct angle direction.However,
Three-dimensional Virtual Space is presented over the display by two dimensional navigation interface, and such navigation mode is more abstract；It is practical
In use, the difficulty that operator correctly moves ultrasonic transducer is larger, navigation efficiency is low.
Summary of the invention
The purpose of the present invention is to provide a kind of ultrasonic transducer air navigation aid, navigation device, electronic equipment and readable deposit
Storage media can guide ultrasonic transducer to reach predetermined from the visual angle of ultrasonic transducer predetermined angular direction in a manner of more intuitive
Position and angle direction, reduce navigation procedure in adjust ultrasonic transducers locations and angle difficulty, improve navigation efficiency.
In order to achieve the above objectives, the present invention provides a kind of ultrasonic transducer air navigation aid.The described method includes: obtaining predetermined
The predetermined three-dimensional position coordinates and predetermined angular of ultrasonic transducer are towards the real-time three-dimensional position of vector, and practical ultrasonic transducer
Coordinate and real-time angular are set towards vector；
According to the coordinate difference between the real-time three-dimensional position coordinates and the predetermined three-dimensional position coordinates, the reality is determined
Real-time three-dimensional position deviation vector between border ultrasonic transducer and the predetermined ultrasonic transducer；
According to the real-time angular towards predetermined angular described in vector sum towards vector, the practical ultrasonic transducer is determined
Real-time angular between the predetermined ultrasonic transducer is towards bias vector.
Optionally, the method also includes: according to the real-time three-dimensional position deviation vector, determine that the practical ultrasound is changed
Real-time deep bias vector and real-time sagittal plane position deviation vector between energy device and the predetermined ultrasonic transducer.
Optionally, described according to the real-time three-dimensional position deviation vector, determine the practical ultrasonic transducer with it is described
Real-time deep bias vector and real-time sagittal plane position deviation vector between predetermined ultrasonic transducer, comprising: according to described
Real-time three-dimensional position deviation vector in the predetermined angular towards the projection vector on vector, determine the real-time deep deviation to
Amount；According to the real-time three-dimensional position deviation vector perpendicular to the projection in plane of the predetermined angular towards vector to
Amount, determines the real-time sagittal plane position deviation vector.
Optionally, it is described according to the real-time three-dimensional position deviation vector in the predetermined angular towards the projection on vector
Vector determines the real-time deep bias vector, according to the real-time three-dimensional position deviation vector perpendicular to the predetermined angle
Degree determines the real-time sagittal plane position deviation vector towards the projection vector in the plane of vector, comprising: will be described predetermined
Angle the angle ranging from the predetermined angular direction towards real-time three-dimensional position deviation Vector rotation certain angle described in vector sum
Vector rotation to Z axis rotation angle；According to projection of the real-time three-dimensional position deviation vector on Z axis, the reality is determined
When depth offset vector；According to projection of the real-time three-dimensional position deviation vector on XOY plane, the real-time radial direction is determined
Plan-position bias vector.
Optionally, it is described according to the real-time angular towards predetermined angular described in vector sum towards vector, determine the reality
Real-time angular between border ultrasonic transducer and the predetermined ultrasonic transducer is towards bias vector, comprising: according to it is described in real time
Angle, perpendicular to the projection vector in plane of the predetermined angular towards vector, determines the real-time angular court towards vector
To bias vector.
Optionally, it is described according to the real-time angular towards vector in the plane perpendicular to the predetermined angular towards vector
On projection vector, determine the real-time angular towards bias vector, comprising: by the predetermined angular towards real described in vector sum
When angle towards Vector rotation certain angle, the angle ranging from rotation angle of the predetermined angular towards Vector rotation to Z axis；
Projection according to the real-time angular towards vector on XOY plane determines the real-time angular towards bias vector.
Optionally, the method also includes: it is inclined according to the real-time deep bias vector, the real-time sagittal plane position
Towards bias vector, the visualization guidance practical ultrasonic transducer reaches the predetermined ultrasound for difference vector and the real-time angular
The position of energy converter and angle direction.
Optionally, described real according to the depth offset vector, the real-time sagittal plane position deviation vector sum
When angle towards bias vector, visualization guide the practical ultrasonic transducer reach the position of the predetermined ultrasonic transducer with
Angle direction, comprising:
The depth offset vector is indicated according to depth offset bar；The predetermined angular is indicated according to plane ring sight
Towards vector, indicate the predetermined ultrasonic transducer in the position of sagittal plane according to the first dot；It is indicated according to the second dot
Position of the practical ultrasonic transducer in the sagittal plane；Position according to second dot and first dot is inclined
Difference indicates the real-time sagittal plane position deviation vector；Indicate the real-time angular towards deviation according to angular deviation bar
Vector.
Optionally, described that the depth offset vector is indicated according to depth offset bar including inclined according to the depth
The length and color of poor bar indicate the depth offset vector.
In order to achieve the above objectives, the present invention also provides a kind of ultrasonic transducer navigation devices, comprising:
Obtain module, the predetermined three-dimensional position coordinates and predetermined angular for obtaining predetermined ultrasonic transducer towards vector,
And the real-time three-dimensional position coordinates and real-time angular of practical ultrasonic transducer are towards vector；
First determining module, for according between the real-time three-dimensional position coordinates and the predetermined three-dimensional position coordinates
Coordinate difference determines the real-time three-dimensional position deviation vector between the practical ultrasonic transducer and the predetermined ultrasonic transducer；
And
Second determining module, for, towards predetermined angular described in vector sum towards vector, being determined according to the real-time angular
Real-time angular between the practical ultrasonic transducer and the predetermined ultrasonic transducer is towards bias vector.
Optionally, the ultrasonic transducer navigation device further include:
Third determining module, for determining the practical ultrasonic transducer according to the real-time three-dimensional position deviation vector
With the real-time deep bias vector between the predetermined ultrasonic transducer；And
4th determining module, for determining the practical ultrasonic transducer according to the real-time three-dimensional position deviation vector
Real-time sagittal plane position deviation vector between the predetermined ultrasonic transducer.
Optionally, the third determining module is specifically used for according to the real-time three-dimensional position deviation vector described pre-
Angle is determined towards the projection vector on vector, determines the real-time deep bias vector；4th determining module, is specifically used for
According to the real-time three-dimensional position deviation vector perpendicular to the projection vector in plane of the predetermined angular towards vector, really
The fixed real-time sagittal plane position deviation vector.
Optionally, the third determining module is specifically used for the predetermined angular towards real-time three-dimensional described in vector sum
Position deviation Vector rotation certain angle the angle ranging from rotation angle of the predetermined angular towards Vector rotation to Z axis, and
According to projection of the real-time three-dimensional position deviation vector on Z axis, the real-time deep bias vector is determined；
4th determining module is specifically used for the predetermined angular towards real-time three-dimensional position deviation described in vector sum
Vector rotation certain angle the angle ranging from rotation angle of the predetermined angular towards Vector rotation to Z axis, and according to described
Projection of the real-time three-dimensional position deviation vector on XOY plane determines the real-time sagittal plane position deviation vector.
Optionally, second determining module is specifically used for according to the real-time angular towards vector perpendicular to described
Predetermined angular determines the real-time angular towards bias vector towards the projection vector in the plane of vector.
Optionally, the navigation device further includes visualization guiding module, and the visualization guiding module is used for according to institute
Real-time angular described in real-time deep bias vector, the real-time sagittal plane position deviation vector sum is stated towards bias vector, it can
Depending on changing the position and the angle direction that guide the practical ultrasonic transducer to reach the predetermined ultrasonic transducer.
Optionally, the visualization guiding module is specifically used for indicating the depth offset according to depth offset bar
Vector；
Indicate that the predetermined angular towards vector, indicates that the predetermined ultrasound is changed according to the first dot according to plane ring sight
Position of the energy device in sagittal plane；
Indicate the practical ultrasonic transducer in the position of the sagittal plane according to the second dot；
The real-time sagittal plane position deviation is indicated according to the position deviation of second dot and first dot
Vector；And
Indicate the real-time angular towards bias vector according to angular deviation bar.
In order to achieve the above objectives, the present invention also provides a kind of electronic equipment, including memory, for storing computer journey
Sequence；And processor, above-mentioned ultrasonic transducer navigation side is able to achieve when for executing the program stored on the memory
The step of method.
In order to achieve the above objectives, it the present invention also provides a kind of readable storage medium storing program for executing, is stored in the readable storage medium storing program for executing
Computer program, the computer program are able to achieve the step of above-mentioned ultrasonic transducer air navigation aid when being executed by a processor
Suddenly.
Compared with prior art, ultrasonic transducer air navigation aid provided by the invention, navigation device, electronic equipment and readable
The advantages of storage medium, is: by the predetermined three-dimensional position coordinates and predetermined angular that obtain predetermined ultrasonic transducer towards vector
And the real-time three-dimensional position coordinates and real-time angular of practical ultrasonic transducer are towards vector, it is super so as to obtain the reality
Real-time three-dimensional position deviation vector sum real-time angular between sonic transducer and the predetermined ultrasonic transducer towards bias vector,
By by real-time three-dimensional position deviation vector sum real-time angular towards bias vector, can be from ultrasonic transducer predetermined angular court
To visual angle guide ultrasonic transducer to reach scheduled position and angle direction in a manner of more intuitive, reduce and adjusted in navigation procedure
The difficulty of whole ultrasonic transducers locations and angle improves navigation efficiency.
Detailed description of the invention
Fig. 1 is the flow chart of the ultrasonic transducer air navigation aid of an embodiment of the present invention；
Fig. 2 is the schematic diagram of the position deviation and angular deviation in the present invention；
Fig. 3 is the schematic diagram for simplifying calculating position deviation and angular deviation in the present invention by rotating；
Fig. 4 is the navigation interface schematic diagram in the present invention；
Fig. 5 is the schematic diagram of depth offset bar in varied situations in the present invention；
Fig. 6 is the block diagram of the ultrasonic transducer navigation device of an embodiment of the present invention.
Wherein, appended drawing reference is as follows:
Predetermined ultrasonic transducer -100；Predetermined angular is towards vector -110；Practical ultrasonic transducer -200；Real-time angular court
To vector -210；Real-time three-dimensional position deviation vector -300；Real-time angular is towards bias vector -400；Real-time deep deviation to
Amount -310；Real-time sagittal plane position deviation vector -320；Depth offset bar -500；Plane ring sight -600；First circle
Point -700；Second dot -800；Angular deviation bar -900；Obtain module -1；First determining module -2；Second determines mould
Block -3；Four determining module -5 of third determining module -4, the visualize guiding module -6.
Specific embodiment
A kind of ultrasonic transducer air navigation aid proposed by the present invention, navigation are filled below in conjunction with the drawings and specific embodiments
It sets, electronic equipment and readable storage medium storing program for executing are described in further detail.According to following explanation and claims, of the invention is excellent
Point and feature will become apparent from.
In order to keep objects, features and advantages of the present invention more obvious and easy to understand, attached drawing 1 to 6 is please referred to.It should be clear that this
Specification structure depicted in this specification institute accompanying drawings, ratio, size etc., only to cooperate the revealed content of specification, for ripe
The personage for knowing this technology understands and reads, and is not intended to limit the invention the qualifications of implementation, therefore does not have technical essence
Meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size, do not influence the effect of present invention can be generated and
Under the purpose that can reach, should all still it fall in the range of disclosed technology contents can cover.
Core of the invention thought is to provide a kind of ultrasonic transducer air navigation aid, navigation device, electronic equipment and can
Storage medium is read, is difficult to for ultrasonic transducer to be moved to scheduled position and angle to solve existing operator in the prior art
Towards and the low problem of navigation efficiency.
To realize that above-mentioned thought, the present invention provide a kind of ultrasonic transducer air navigation aid, Fig. 1 shows schematically this hair
The flow chart of the ultrasonic transducer air navigation aid of a bright embodiment, as shown in Figure 1, described method includes following steps:
S100: the predetermined three-dimensional position coordinates and predetermined angular for obtaining predetermined ultrasonic transducer are and practical towards vector
The real-time three-dimensional position coordinates and real-time angular of ultrasonic transducer are towards vector.
In this step, need to set the predetermined three-dimensional location coordinates and angle direction put of one group of predetermined ultrasonic transducer
Data, while needing the constantly real-time multiple groups three-dimensional location coordinates for acquiring practical ultrasonic transducer and angle towards data.
S200: it according to the coordinate difference between the real-time three-dimensional position coordinates and the predetermined three-dimensional position coordinates, determines
Real-time three-dimensional position deviation vector between the practical ultrasonic transducer and the predetermined ultrasonic transducer.
In this step, it needs each group of real-time three-dimensional position coordinates for calculating practical ultrasonic transducer in real time and makes a reservation for super
Real-time three-dimensional position deviation vector between the predetermined three-dimensional position coordinates of sonic transducer.
S300: according to the real-time angular towards predetermined angular described in vector sum towards vector, the practical ultrasound is determined
Real-time angular between energy converter and the predetermined ultrasonic transducer is towards bias vector.
In this step, need to calculate in real time each group of real-time angular of practical ultrasonic transducer towards vector with it is described pre-
The predetermined angular of ultrasonic transducer is determined towards the real-time angular between vector towards bias vector.
The predetermined three-dimensional position that ultrasonic transducer air navigation aid provided by the invention passes through the predetermined ultrasonic transducer 100 of acquisition
The real-time three-dimensional position coordinates and real-time angular court of coordinate and predetermined angular towards vector 110 and practical ultrasonic transducer 200
It is real-time between the practical ultrasonic transducer 200 and the predetermined ultrasonic transducer 100 so as to obtain to vector 210
Three-dimensional position bias vector 300 and real-time angular are towards bias vector 400, by by real-time three-dimensional position deviation vector 300
With real-time angular towards bias vector 400, ultrasonic transducer can be guided to reach scheduled position and angle in a manner of more intuitive
Direction is spent, the difficulty for adjusting ultrasonic transducers locations and angle in navigation procedure is reduced, improves navigation efficiency.
In order to further guide ultrasonic transducer to reach scheduled position and angle direction in a manner of more intuitive,
The difficulty that ultrasonic transducers locations and angle are adjusted in navigation procedure is reduced, as shown in Figure 1, the method also includes:
Step S400: according to the real-time three-dimensional position deviation vector, determine the practical ultrasonic transducer with it is described pre-
Determine the real-time deep bias vector and real-time sagittal plane position deviation vector between ultrasonic transducer.
Wherein the angle of the real-time sagittal plane position deviation vector 320 reflects the side of real-time sagittal plane position deviation
Position, the size of the long reflection sagittal plane position deviation of vector field homoemorphism.The present invention can pass through depth offset, sagittal plane position as a result,
It sets deviation and angle and ultrasonic transducer is navigated into scheduled position and angle direction towards deviation these three parameters.
It should be noted that the sequence of described step S200, S300, S400 be it is adjustable, the present invention is not to the step
The sequence of rapid S200, S300, S400 are limited, and step S300 may be located on before step S200, can also be located at step
After S400, it can also be carried out simultaneously with step S200 or step S400.
Fig. 2 shows schematically the position deviation in the present invention and the schematic diagram of angular deviation, as shown in Fig. 2, it is preferred that
Ground, can according to the real-time three-dimensional position deviation vector 300 in the predetermined angular towards the projection vector on vector 110,
Determine the real-time deep bias vector 310；According to the real-time three-dimensional position deviation vector 300 perpendicular to the predetermined angle
Degree determines the real-time sagittal plane position deviation vector 320 towards the projection vector in the plane of vector 110.It is such as a result,
The calculation amount that can simplify the real-time deep bias vector 310 and the real-time sagittal plane position deviation vector 320 is set.
Specifically, the predetermined three-dimensional position coordinates of the predetermined ultrasonic transducer 100 can use three-dimensional vector (x0,y0,z0)
It indicates；The real-time three-dimensional position coordinates of the practical ultrasonic transducer 200 can use three-dimensional vector (x1,y1,z1) indicate；It is described
The predetermined angular of predetermined ultrasonic transducer 100 can use three-dimensional vector (the Δ x of mould a length of 1 towards vector 1100,Δy0,Δz0)
It indicates, whereinThe real-time angular of the practical ultrasonic transducer 200 can be with towards vector 210
With three-dimensional vector (the Δ x of mould a length of 11,Δy1,Δz1) indicate, wherein
In the present embodiment, it usesIndicate the predetermined angular towards vector 110,Indicate the real-time angular direction
Vector 210,Indicate the real-time three-dimensional position deviation vector 300,Indicate the real-time angular towards bias vector 400,
Indicate the real-time deep bias vector 310,Indicate the real-time sagittal plane position deviation vector 320.Then:
Fig. 3 shows schematically the schematic diagram that the present invention simplifies calculating position deviation and angular deviation by rotating, such as
Shown in Fig. 3, in order to be further simplified the real-time deep bias vector 310 and the real-time sagittal plane position deviation vector
320 calculation amount is actually calculating the real-time deep bias vector 310 and the real-time sagittal plane position deviation vector
When 320, the predetermined angular is rotated by a certain angle towards vector 110 and the real-time three-dimensional position deviation vector 300, it is described
Angle is that the predetermined angular is rotated towards vector 110 to the rotation angle of Z axis；According to the real-time three-dimensional position deviation vector
300 projection on Z axis determines the real-time deep bias vector 310；According to the real-time three-dimensional position deviation vector 300
Projection on XOY plane determines the real-time sagittal plane position deviation vector 320.As a result, when by the predetermined angular court
After rotating the angle to vector 110 and the real-time three-dimensional position deviation vector 300, the predetermined angular is towards vector 110 and Z
Axis is in the same direction, and XOY plane is the plane perpendicular towards vector 110 with the predetermined angular, the real-time three-dimensional position deviation
Projection of the vector 300 on XOY plane is the real-time sagittal plane position deviation vector 320, the real-time three-dimensional position
Projection of the bias vector 300 on Z axis is the depth offset vector, at this point, the depth offset vector and Z axis are in the same direction.
It, can be according to the real-time angular towards vector in order to simplify the calculating of the real-time angular towards bias vector 400
210, perpendicular to the projection vector in plane of the predetermined angular towards vector 110, determine the real-time angular towards deviation
Vector 400, wherein the angle of the real-time angular bias vector 400 reflects orientation of the angle towards deviation, vector field homoemorphism is long anti-
Reflect size of the angle towards deviation.
It, can will be described pre- as shown in figure 3, in order to be further simplified the calculating of the real-time angular towards bias vector 400
Determine angle to rotate by a certain angle towards vector 110 and the real-time angular towards vector 210, the angle ranging from the predetermined angular
Towards the rotation of vector 110 to the rotation angle of Z axis；Projection according to the real-time angular towards vector 210 on XOY plane,
Determine the real-time angular towards bias vector 400.As a result, when by the predetermined angular towards vector 110 and the real-time angle
Degree towards vector 210 rotate the angle after, the predetermined angular is in the same direction towards vector 110 and Z axis, XOY plane as with it is described
The predetermined angular plane perpendicular towards vector 110, the real-time angular are towards projection of the vector 210 on XOY plane
The real-time angular is towards bias vector 400.
It is described rotation angle calculating can be realized by Douglas Rodríguez rotation formula, Douglas Rodríguez rotation formula
Are as follows: assuming that a vectorVector is obtained after rotating by a certain angleOne can then be passed through
3 × 3 spin matrix Rw(θ) describes the rotary course, i.e.,
Then:
Wherein:
In the present embodiment, it needs the predetermined angular towards the rotation of vector 110 to Z axis, i.e.,Spin matrix R is acquired after bringing Douglas Rodríguez rotation formula intow(θ).By institute
After stating the rotation of real-time three-dimensional position deviation vector 300 angle, meet (x1-x0,y1-y0,z1-z0)·Rw(θ)=(xc,yc,
zc), (xc,yc,zc) it is the postrotational real-time three-dimensional position deviation vector 300, it is described in the projection of XOY plane
Real-time sagittal plane position deviation vector 320, i.e., the described real-time sagittal plane position deviation vector 320 are
After the real-time angular is similarly rotated the angle towards vector 210, meet:
(Δx1,Δy1,Δz1)·Rw(θ)=(xd,yd,zd)。
Wherein, (xd,yd,zd) it is the postrotational real-time angular towards vector 210, be in the projection of XOY plane
The real-time angular is towards bias vector 400 towards bias vector 400, i.e., the described real-time angular
As shown in Figure 1, in order to further guide ultrasonic transducer to reach scheduled position in a manner of more intuitively
It sets and angle direction, ultrasonic transducer air navigation aid provided by the invention further include:
Step S500: according to the real-time deep bias vector, the real-time sagittal plane position deviation vector sum
Real-time angular reaches the position of the predetermined ultrasonic transducer towards bias vector, the visualization guidance practical ultrasonic transducer
With angle direction.
Fig. 4 shows schematically the navigation interface schematic diagram in the present invention, as shown in figure 4, can be on navigation interface, root
The real-time deep bias vector 310 is indicated according to depth offset bar 500；It is indicated according to plane ring sight 600 described predetermined
Angle towards vector 110, according to the first dot 700 indicate the predetermined ultrasonic transducer 100 in the position of sagittal plane, it is described
First dot 700 is located at the center of the plane ring sight 600；Indicate that the practical ultrasound is changed according to the second dot 800
Position of the energy device 200 in the sagittal plane；Referred to according to the position deviation of second dot 800 and first dot 700
Show the real-time sagittal plane position deviation vector 320；Indicate the real-time angular towards partially according to angular deviation bar 900
Difference vector 400.As shown in figure 4, the depth offset bar 500 on right side indicate the position of the practical ultrasonic transducer 200 with
The depth offset situation in predetermined position；The sighted direction of plane ring sight 600 is the angle court of the predetermined ultrasonic transducer 100
To direction, the first dot 700 positioned at the center of ring sight indicates the predetermined ultrasonic transducer 100 perpendicular to described predetermined
Two-dimensional position of 100 angle of ultrasonic transducer towards plane (i.e. sagittal plane)；Second dot 800 indicates that the practical ultrasound is changed
Can device 200 perpendicular to predetermined 100 angle of ultrasonic transducer towards the Real-time Two-dimensional position of plane (i.e. sagittal plane)；Angle
Degree deviation bar 900 indicates 200 angle of the practical ultrasonic transducer direction and the predetermined 100 angle court of ultrasonic transducer
Deviation azimuth and deviation size between.
For the ease of distinguishing the predetermined ultrasonic transducer 100 and the practical ultrasonic transducer 200 on navigation interface,
First dot 700 and second dot 800 can be used different colors and shown, for example, the first dot 700 can be used
Red is shown that 800 available green of the second dot is shown.In Fig. 4, indicate different using different filling patterns
Color.
Fig. 5 shows schematically the schematic diagram of depth offset bar 500 in varied situations in the present invention, such as schemes
Shown in 5, in order to more intuitively show real-time deep bias vector 310 on navigation interface, it can be referred to by depth offset
Show color and the length of item 500 to indicate the real-time deep bias vector 310, in the present embodiment, real-time deep deviation
Calculation formula are as follows:
Real-time deep deviation=(x1-x0)×Δx0+(y1-y0)×Δy0+(z1-z0)×Δz0。
When the practical ultrasonic transducer 200 also needs the angle direction along the predetermined ultrasonic transducer 100
When continuing deeper into, real-time deep deviation is positive, and as shown in Fig. 5 (a) and Fig. 5 (b), depth offset bar 500 shows the upper half
Point；Conversely, real-time deep deviation is negative, as shown in Fig. 5 (d) and Fig. 5 (e), depth offset bar 500 shows lower half portion.
The length of depth offset bar 500 is directly proportional to the size of the inclined absolute value of the difference of real-time deep.Real-time deep deviation it is absolute
When smaller with the inclined absolute value of the difference of real-time deep when being worth larger, the color that depth offset bar 500 is shown can be different, example
Such as, when the inclined absolute value of the difference of real-time deep is larger, as shown in Fig. 5 (a) and Fig. 5 (e), depth offset bar 500 can be shown
For a kind of color, such as red；When the inclined absolute value of the difference of real-time deep is smaller, as shown in Fig. 5 (b) and Fig. 5 (d), depth is inclined
Poor bar 500 can be shown as another color, such as yellow.When depth offset is 0, depth offset bar 500 is simultaneously
Show upper and lower two parts, i.e., depth offset bar 500 shows overall length at this time.In order to not be the progress of 0 the case where with depth offset
It distinguishes, the face when real-time deep deviation is 0, as shown in Fig. 5 (c), when the color of depth bar can not be 0 with depth offset
Color is different, such as when real-time deep deviation is 0, and the color of depth offset bar 500 can be green.In Fig. 5, using not
Same filling pattern indicates different colors.
For the ease of being distinguished with the depth offset bar 500, as shown in figure 4, the angular deviation bar
900 color can be different from the color of the depth offset bar 500, such as the color of the angular deviation bar 900
It can be indicated with blue.
When the second dot 800 is moved at the first dot 700 among plane ring sight 600, blue angular deviation is indicated
Item 900 disappears, and when depth offset bar 500 shows overall length and is green, indicates the position of the practical ultrasonic transducer 200
With angle towards being all consistent with predetermined position and angle direction, to complete the navigation work of ultrasonic transducer.
Corresponding with above-mentioned ultrasonic transducer air navigation aid, the present invention also provides a kind of navigation of ultrasonic transducer to fill
It sets, Fig. 6 shows schematically the block diagram of the ultrasonic transducer navigation device of an embodiment of the present invention, as shown in fig. 6, institute
Stating navigation device includes obtaining module 1, the first determining module 2 and the second determining module 3.
Wherein, the acquisition module 1, for obtaining the predetermined three-dimensional position coordinates of predetermined ultrasonic transducer 100 and making a reservation for
Angle towards vector 110, and practical ultrasonic transducer 200 real-time three-dimensional position coordinates and real-time angular towards vector 210.
First determining module 2, for according to the real-time three-dimensional position coordinates and the predetermined three-dimensional position coordinates
Between coordinate difference, determine the real-time three-dimensional position between the practical ultrasonic transducer 200 and the predetermined ultrasonic transducer 100
Set bias vector 300.
Second determining module 3, for according to the real-time angular towards vector 210 and the predetermined angular towards to
Amount 110 determines real-time angular between the practical ultrasonic transducer 200 and the predetermined ultrasonic transducer 100 towards deviation
Vector 400.
Preferably, second determining module 3, is particularly used according to the real-time angular towards vector 210 vertical
In the predetermined angular towards the projection vector in the plane of vector 110, determine the real-time angular towards bias vector 400.
Further, second determining module 3 is particularly used in the predetermined angular towards vector 110 and described
Real-time angular rotates by a certain angle towards vector 210, the angle ranging from the predetermined angular and rotates towards vector 110 to Z axis
Angle is rotated, the projection according to the real-time angular towards vector 210 on XOY plane determines the real-time angular towards partially
Difference vector 400.
Preferably, as shown in fig. 6, the ultrasonic transducer navigation device may also include third determining module 4 and the 4th really
Cover half block 5.
The third determining module 4, for determining that the reality is super according to the real-time three-dimensional position deviation vector 300
Real-time deep bias vector 310 between sonic transducer 200 and the predetermined ultrasonic transducer 100.
The third determining module 4 is particularly used according to the real-time three-dimensional position deviation vector 300 described predetermined
Angle determines the real-time deep bias vector 310 towards the projection vector on vector 110.
Preferably, the third determining module 4 is particularly used in the predetermined angular towards vector 110 and the reality
When three-dimensional position bias vector 300 rotate by a certain angle, the angle ranging from the predetermined angular towards the rotation of vector 110 to Z axis
Rotation angle the real-time deep deviation is determined according to projection of the real-time three-dimensional position deviation vector 300 on Z axis
Vector 310.
4th determining module 5, for determining that the reality is super according to the real-time three-dimensional position deviation vector 300
Real-time sagittal plane position deviation vector 320 between sonic transducer 200 and the predetermined ultrasonic transducer 100.
Preferably, the 4th determining module 5 is particularly used in and is existed according to the real-time three-dimensional position deviation vector 300
Perpendicular to the predetermined angular towards the projection vector in the plane of vector 110, the real-time sagittal plane position deviation is determined
Vector 320.
Further, the 4th determining module 5 is particularly used in the predetermined angular towards vector 110 and described
Real-time three-dimensional position deviation vector 300 rotates by a certain angle, and the angle ranging from the predetermined angular and rotates towards vector 110 to Z
The rotation angle of axis determines the real-time diameter according to projection of the real-time three-dimensional position deviation vector 300 on XOY plane
To plan-position bias vector 320.
Preferably, navigation device provided by the invention may also include visualization guiding module 6, the visualization guiding module
6, for according to the real-time deep bias vector 310, the real-time sagittal plane position deviation vector 320 and the real-time angle
Degree guides the practical ultrasonic transducer 200 to reach the predetermined ultrasonic transducer 100 towards bias vector 400, visualization
Position and angle direction.
Further, the visualization guiding module 6, be particularly used in indicated according to depth offset bar 500 it is described
Depth offset vector；Indicate that the predetermined angular towards vector 110, is indicated according to the first dot 700 according to plane ring sight 600
Position of the predetermined ultrasonic transducer 100 in sagittal plane；The practical ultrasonic transducer is indicated according to the second dot 800
200 the sagittal plane position；Institute is indicated according to the position deviation of second dot 800 and first dot 700
State real-time sagittal plane position deviation vector 320；And indicate the real-time angular towards partially according to angular deviation bar 900
Difference vector 400.
Ultrasonic transducer navigation device provided by the invention passes through by real-time three-dimensional position deviation vector 300 and real-time angle
Degree can guide ultrasonic transducer to reach scheduled position and angle direction, drop towards bias vector 400 in a manner of more intuitive
The difficulty that ultrasonic transducers locations and angle are adjusted in low navigation procedure, improves navigation efficiency.
Based on the same inventive concept, the present invention also provides a kind of electronic equipment, including memory, for storing computer journey
Sequence；And processor, above-mentioned ultrasonic transducer navigation side is able to achieve when for executing the program stored on the memory
The method and step of method.
In addition, the electronic equipment can be the calculating such as desktop PC, notebook, palm PC and cloud server
Equipment.The electronic equipment may include, but be not limited only to, processor, memory, such as the electronic equipment can also include defeated
Enter output equipment, network access equipment, bus etc..
Alleged processor can be central processing unit (Central Processing Unit, CPU), can also be it
His general processor, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng the processor is the control centre of the electronic equipment, utilizes each of various interfaces and the entire electronic equipment of connection
A part.
The memory can be used for storing the computer program, and the processor is stored in described by operation or execution
Computer program in memory, and the data being stored in memory are called, realize the various functions of the electronic equipment.
Can also include nonvolatile memory in addition, memory may include high-speed random access memory, for example, hard disk, memory,
Plug-in type hard disk, intelligent memory card (SmartMedia Card, SMC), secure digital (Secure Digital, SD) card, flash memory
Block (Flash Card), at least one disk memory, flush memory device or other volatile solid-state parts.
Based on the same inventive concept, the present invention also provides a kind of readable storage medium storing program for executing, the interior storages of the readable storage medium storing program for executing
There is computer program, the computer program is able to achieve the side of above-mentioned ultrasonic transducer air navigation aid when being executed by a processor
Method step.
The readable storage medium storing program for executing can be and can keep and store the tangible of the instruction used by instruction execution equipment and set
It is standby, such as storage device electric, magnetic storage apparatus, light storage device, electric magnetic storage apparatus, semiconductor storage can be but not limited to
Equipment or above-mentioned any appropriate combination.The more specific example (non exhaustive list) of readable storage medium storing program for executing includes: just
Take formula computer disks, hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read only memory
(EPROM or flash memory), static random access memory (SRAM), Portable compressed disk read-only memory (CD-ROM), number are more
Functional disc (DVD), memory stick, floppy disk, mechanical coding equipment, the punch card for being for example stored thereon with instruction or groove internal projection knot
Structure and above-mentioned any appropriate combination.Computer program as described herein can download to respectively from readable storage medium storing program for executing
A calculating/processing equipment, or external meter is downloaded to by network, such as internet, local area network, wide area network and/or wireless network
Calculation machine or External memory equipment.Network may include copper transmission cable, optical fiber transmission, wireless transmission, router, firewall, friendship
It changes planes, gateway computer and/or Edge Server.Adapter or network interface in each calculating/processing equipment from
Network receives the computer program, and forwards the computer program, readable in each calculating/processing equipment for being stored in
In storage medium.Computer program for executing operation of the present invention can be assembly instruction, instruction set architecture (ISA) instructs,
Machine instruction, machine-dependent instructions, microcode, firmware instructions, condition setup data or with one or more programming languages
The source code or object code that any combination is write, the programming language include the programming language-of object-oriented such as
Smalltalk, C++ etc., and conventional procedural programming languages-such as " C " language or similar programming language.The meter
Calculation machine program can be executed fully on the user computer, partly execute on the user computer, be independent as one
Software package executes, part executes on the remote computer or completely in remote computer or clothes on the user computer for part
It is executed on business device.In situations involving remote computers, remote computer can pass through the network of any kind, including local
Net (LAN) or wide area network (WAN), are connected to subscriber computer, or, it may be connected to outer computer (such as using because of spy
Service provider is netted to connect by internet).In some embodiments, by the status information using computer program come
Personalized customization electronic circuit, such as programmable logic circuit, field programmable gate array (FPGA) or programmable logic array
(PLA), which can execute computer-readable program instructions, to realize various aspects of the invention.
In conclusion ultrasonic transducer air navigation aid, navigation device, electronic equipment and readable storage medium provided by the invention
The advantages of matter, is: by the predetermined three-dimensional position coordinates and predetermined angular that obtain predetermined ultrasonic transducer towards vector and reality
The real-time three-dimensional position coordinates and real-time angular of border ultrasonic transducer are towards vector, so as to obtain the practical ultrasonic transduction
Real-time three-dimensional position deviation vector sum real-time angular between device and the predetermined ultrasonic transducer is towards bias vector, by borrowing
Help real-time three-dimensional position deviation vector sum real-time angular towards bias vector, it can be from the view of ultrasonic transducer predetermined angular direction
Angle guides ultrasonic transducer to reach scheduled position and angle direction in a manner of more intuitive, reduces and adjusts ultrasound in navigation procedure
The difficulty of transducer position and angle improves navigation efficiency.
Herein, the terms "include", "comprise" or any other variant thereof is intended to cover non-exclusive inclusion, from
And to include the process, method, article or equipments of a series of elements not only to include those elements, but also including not bright
The other element really listed, or further include for elements inherent to such a process, method, article, or device.Do not having
In the case where more limitations, the element that is limited by sentence "including a ...", it is not excluded that include the element process,
There is also other identical elements in method, article or equipment.
Foregoing description is only the description to better embodiment of the present invention, not to any restriction of the scope of the invention, is shown
So, those skilled in the art can carry out various modification and variations without departing from the spirit and scope of the present invention to invention.This
Sample, if these modifications and changes of the present invention is within the scope of the claims of the present invention and its equivalent technology, then this hair
It is bright to be also intended to including these modification and variations.
Claims (18)
1. a kind of ultrasonic transducer air navigation aid characterized by comprising
The predetermined three-dimensional position coordinates and predetermined angular for obtaining predetermined ultrasonic transducer are towards vector, and practical ultrasonic transducer
Real-time three-dimensional position coordinates and real-time angular towards vector；
According to the coordinate difference between the real-time three-dimensional position coordinates and the predetermined three-dimensional position coordinates, determine that the reality is super
Real-time three-dimensional position deviation vector between sonic transducer and the predetermined ultrasonic transducer；And
According to the real-time angular towards predetermined angular described in vector sum towards vector, the practical ultrasonic transducer and institute are determined
Real-time angular between predetermined ultrasonic transducer is stated towards bias vector.
2. ultrasonic transducer air navigation aid as described in claim 1, which is characterized in that the method also includes: according to described
Real-time three-dimensional position deviation vector determines the real-time deep between the practical ultrasonic transducer and the predetermined ultrasonic transducer
Bias vector and real-time sagittal plane position deviation vector.
3. ultrasonic transducer air navigation aid as claimed in claim 2, which is characterized in that described according to the real-time three-dimensional position
Bias vector determines real-time deep bias vector and reality between the practical ultrasonic transducer and the predetermined ultrasonic transducer
When sagittal plane position deviation vector, comprising:
The reality is determined towards the projection vector on vector in the predetermined angular according to the real-time three-dimensional position deviation vector
When depth offset vector；According to the real-time three-dimensional position deviation vector in the plane perpendicular to the predetermined angular towards vector
On projection vector, determine the real-time sagittal plane position deviation vector.
4. ultrasonic transducer air navigation aid as claimed in claim 3, which is characterized in that described according to the real-time three-dimensional position
Bias vector, towards the projection vector on vector, determines the real-time deep bias vector, according to described in the predetermined angular
Real-time three-dimensional position deviation vector determines the reality perpendicular to the projection vector in plane of the predetermined angular towards vector
When sagittal plane position deviation vector, comprising:
By the predetermined angular towards real-time three-dimensional position deviation Vector rotation certain angle described in vector sum, institute the angle ranging from
State rotation angle of the predetermined angular towards Vector rotation to Z axis；And
According to projection of the real-time three-dimensional position deviation vector on Z axis, the real-time deep bias vector is determined；According to institute
Projection of the real-time three-dimensional position deviation vector on XOY plane is stated, determines the real-time sagittal plane position deviation vector.
5. ultrasonic transducer air navigation aid as described in claim 1, which is characterized in that described according to the real-time angular direction
Predetermined angular described in vector sum determines the reality between the practical ultrasonic transducer and the predetermined ultrasonic transducer towards vector
When angle towards bias vector, comprising:
According to the real-time angular towards vector perpendicular to the projection vector in plane of the predetermined angular towards vector, really
The real-time angular is determined towards bias vector.
6. ultrasonic transducer air navigation aid as claimed in claim 5, which is characterized in that described according to the real-time angular direction
Vector perpendicular to the projection vector in plane of the predetermined angular towards vector, determine the real-time angular towards deviation to
Amount, comprising:
By the predetermined angular towards real-time angular described in vector sum towards Vector rotation certain angle, the angle ranging from described pre-
Determine rotation angle of the angle towards Vector rotation to Z axis；And
Projection according to the real-time angular towards vector on XOY plane determines the real-time angular towards bias vector.
7. ultrasonic transducer air navigation aid as claimed in claim 2, which is characterized in that the method also includes: according to described
Real-time angular described in real-time deep bias vector, the real-time sagittal plane position deviation vector sum is towards bias vector, visually
Change position and the angle direction for guiding the practical ultrasonic transducer to reach the predetermined ultrasonic transducer.
8. ultrasonic transducer air navigation aid as claimed in claim 7, which is characterized in that described according to the real-time deep deviation
Real-time angular described in vector, the real-time sagittal plane position deviation vector sum guides the reality towards bias vector, visualization
Border ultrasonic transducer reaches position and the angle direction of the predetermined ultrasonic transducer, comprising:
The depth offset vector is indicated according to depth offset bar；
Indicate that the predetermined angular towards vector, indicates the predetermined ultrasonic transducer according to the first dot according to plane ring sight
In the position of sagittal plane；
Indicate the practical ultrasonic transducer in the position of the sagittal plane according to the second dot；
The real-time sagittal plane position deviation vector is indicated according to the position deviation of second dot and first dot；
And
Indicate the real-time angular towards bias vector according to angular deviation bar.
9. a kind of ultrasonic transducer navigation device characterized by comprising
Obtain module, the predetermined three-dimensional position coordinates and predetermined angular for obtaining predetermined ultrasonic transducer towards vector, and
The real-time three-dimensional position coordinates and real-time angular of practical ultrasonic transducer are towards vector；
First determining module, for according to the coordinate between the real-time three-dimensional position coordinates and the predetermined three-dimensional position coordinates
Difference determines the real-time three-dimensional position deviation vector between the practical ultrasonic transducer and the predetermined ultrasonic transducer；And
Second determining module, described in, towards predetermined angular described in vector sum towards vector, being determined according to the real-time angular
Real-time angular between practical ultrasonic transducer and the predetermined ultrasonic transducer is towards bias vector.
10. ultrasonic transducer navigation device as claimed in claim 9, which is characterized in that the ultrasonic transducer navigation device
Further include:
Third determining module, for determining the practical ultrasonic transducer and institute according to the real-time three-dimensional position deviation vector
State the real-time deep bias vector between predetermined ultrasonic transducer；And
4th determining module, for determining the practical ultrasonic transducer and institute according to the real-time three-dimensional position deviation vector
State the real-time sagittal plane position deviation vector between predetermined ultrasonic transducer.
11. ultrasonic transducer navigation device as claimed in claim 10, which is characterized in that the third determining module, specifically
For according to the real-time three-dimensional position deviation vector in the predetermined angular towards the projection vector on vector, determine the reality
When depth offset vector；4th determining module, be specifically used for according to the real-time three-dimensional position deviation vector perpendicular to
The predetermined angular determines the real-time sagittal plane position deviation vector towards the projection vector in the plane of vector.
12. ultrasonic transducer navigation device as claimed in claim 11, which is characterized in that the third determining module, specifically
For the predetermined angular towards real-time three-dimensional position deviation Vector rotation certain angle described in vector sum, to the angle ranging from institute
Rotation angle of the predetermined angular towards Vector rotation to Z axis is stated, and according to the real-time three-dimensional position deviation vector on Z axis
Projection, determines the real-time deep bias vector；
4th determining module is specifically used for the predetermined angular towards real-time three-dimensional position deviation vector described in vector sum
It rotates by a certain angle, the angle ranging from rotation angle of the predetermined angular towards Vector rotation to Z axis, and according to described real-time
Projection of the three-dimensional position bias vector on XOY plane determines the real-time sagittal plane position deviation vector.
13. ultrasonic transducer navigation device as claimed in claim 11, which is characterized in that second determining module, specifically
For according to the real-time angular towards vector perpendicular to the projection vector in plane of the predetermined angular towards vector, really
The real-time angular is determined towards bias vector.
14. ultrasonic transducer navigation device as claimed in claim 13, which is characterized in that second determining module, specifically
For the predetermined angular towards real-time angular described in vector sum towards Vector rotation certain angle, to the angle ranging from described pre-
Determine rotation angle of the angle towards Vector rotation to Z axis, and the throwing according to the real-time angular towards vector on XOY plane
Shadow determines the real-time angular towards bias vector.
15. ultrasonic transducer navigation device as claimed in claim 10, which is characterized in that the navigation device further include:
Guiding module is visualized, for according to the real-time deep bias vector, the real-time sagittal plane position deviation vector
With the real-time angular towards bias vector, the visualization guidance practical ultrasonic transducer reaches the predetermined ultrasonic transducer
Position and angle direction.
16. ultrasonic transducer navigation device as claimed in claim 15, which is characterized in that the visualization guiding module, tool
Body is used to indicate the depth offset vector according to depth offset bar；
Indicate that the predetermined angular towards vector, indicates the predetermined ultrasonic transducer according to the first dot according to plane ring sight
In the position of sagittal plane；
Indicate the practical ultrasonic transducer in the position of the sagittal plane according to the second dot；
The real-time sagittal plane position deviation vector is indicated according to the position deviation of second dot and first dot；
And
Indicate the real-time angular towards bias vector according to angular deviation bar.
17. a kind of electronic equipment characterized by comprising
Memory, for storing computer program；And
Processor is able to achieve any described in claim 1 to 8 surpass when for executing the program stored on the memory
The step of sonic transducer air navigation aid.
18. a kind of readable storage medium storing program for executing, which is characterized in that be stored with computer program, the meter in the readable storage medium storing program for executing
Calculation machine program is able to achieve ultrasonic transducer air navigation aid described in any item of the claim 1 to 8 when being executed by a processor
Step.
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