CN101564304A - Method and equipment for standardized and precise ultrasound scanning - Google Patents
Method and equipment for standardized and precise ultrasound scanning Download PDFInfo
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- CN101564304A CN101564304A CNA2009100772025A CN200910077202A CN101564304A CN 101564304 A CN101564304 A CN 101564304A CN A2009100772025 A CNA2009100772025 A CN A2009100772025A CN 200910077202 A CN200910077202 A CN 200910077202A CN 101564304 A CN101564304 A CN 101564304A
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- 238000002604 ultrasonography Methods 0.000 title claims abstract description 38
- 238000000034 method Methods 0.000 title claims abstract description 21
- 239000000523 sample Substances 0.000 claims description 130
- 238000006073 displacement reaction Methods 0.000 claims description 21
- 238000012545 processing Methods 0.000 claims description 12
- 230000001915 proofreading effect Effects 0.000 claims description 8
- 238000003909 pattern recognition Methods 0.000 claims description 5
- 230000001105 regulatory effect Effects 0.000 claims 1
- 210000000481 breast Anatomy 0.000 description 66
- 230000002146 bilateral effect Effects 0.000 description 61
- 210000001519 tissue Anatomy 0.000 description 42
- 210000005075 mammary gland Anatomy 0.000 description 19
- 230000007850 degeneration Effects 0.000 description 16
- 238000012937 correction Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 210000002445 nipple Anatomy 0.000 description 3
- 238000012552 review Methods 0.000 description 3
- 238000010408 sweeping Methods 0.000 description 3
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- 208000014347 autosomal dominant hyaline body myopathy Diseases 0.000 description 2
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- 230000002950 deficient Effects 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 238000002224 dissection Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
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- 238000011835 investigation Methods 0.000 description 1
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- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000010606 normalization Methods 0.000 description 1
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Abstract
The invention relates to a method and equipment for standardized and precise ultrasound scanning which comprises following steps of: fixing a measured object, choosing a scanning reference point, correcting a scanning reference coordinate, fixing the scanning scope, scanning the measured object and forming scanning image data.
Description
Technical field
The present invention relates to a kind of method and apparatus that carries out ultrasonic scan, especially carry out the method and apparatus of standardized and precise ultrasound scanning.
Background technology
Ultransonic check result and picture quality also are subjected to doctor's maneuver and empirical influence except that being subjected to device-restrictive.Factor affecting such as the scanning probe size is little because of being subjected to, check point out-of-flatness, coupling difficulty, hand-held is adopted in the conventional ultrasound inspection, single imaging scope is little, need the mobile probe position or change angle a certain local organization of measurand is carried out scanning, obtain the irregular Dynamic Two-dimensional image of different angles, rely on doctor's dissection knowledge and clinical experience to carry out scanning and diagnosis, the picture position relation that collects is indeterminate, be difficult to determine to scan accurately position and scope, repeatable poor, concordance is poor.When applications of ultrasound during in breast examination, this problem is particularly remarkable.
Because mammary glands in women comes in every shape, organize softness, very big individual variation is arranged, present employed ultrasound investigation equipment all is not easy to the fixing of mammary gland soft tissue both at home and abroad, so the ultrasonic galactophore image that obtains is widely different.Adopt a kind of method that obtains full-field ultrasound scan image data, can obtain the three-D ultrasonic image in whole mammary gland zone, but do not determine scanning probe, mammary gland framework and measured's position relation, the measuring process of absent standardized, lack and carry out quantitatively that mammary gland is fixed and scanning, lack control scanning probe and carry out ultrasonic scanning, can't determine the exact position data of scanning element, and effectively repeat scanning and review at each precise local fix.Simultaneously, for the bigger or lax measured of breast, because the breast ultrasound ripple when checking, adopts the posture that lies low, breast can the vertical health outside, and existing method can't be carried out effectively fixing.
Above factor has all hindered the standardization of ultrasonic scan operation, is difficult to obtain standardized breast ultrasound image, is difficult to finish that same measured's different times ultrasonic image is compared and reviews.
Summary of the invention
The object of the present invention is to provide a kind of method and apparatus that carries out standardized and precise ultrasound scanning, make the regularized operation of ultrasonic scan, the data normalization that is obtained, the scanning accuracy improves, and can review contrast to same patient's medical history scanning data.
For achieving the above object, first purpose of the present invention is to provide a kind of method of carrying out standardized and precise ultrasound scanning, and its concrete grammar is:
Fixing measurand, by means of the fixture of graticule mesh and clamping plate combination, the measurand that fully is fixedly clamped, and between graticule mesh and measurand body surface, fill couplant equably and fully be coupled.
Fixedly measurand comprises the along continuous straight runs X-axis, pushes to center position from two ends, fixedly measurand.Along the fixing measurand of X-direction, adopt gaging pressure to measure to regulate or adopt gear to measure adjusting.
Fixedly measurand comprises vertically Z axle, to the extruding of measurand direction, fixedly measurand.Along the fixing measurand of Z-direction, adopt gaging pressure to measure adjusting.
Fixedly measurand comprise the vertical position of measurand be parallel to the vertical direction Y-axis to.
The scanning target comprises a specific scanning scope and a specific scanning point of measurand, is benchmark with specific scanning point, and the specific scanning point of measurand is carried out scanning, forms the precise ultrasound scanning view data.
On measurand, select the scanning datum mark to comprise, in the scanning coverage of scanning platform, finish once fast pre-scanning automatically, obtain a panoramic picture, choose datum mark according to panoramic picture.
In panoramic picture, select the scanning datum mark to comprise that system adopts the method for pattern recognition, automatically the point that meets special characteristic in the image is decided to be the scanning datum mark; Perhaps system is labeled as the scanning datum mark with the image mid point automatically according to the panoramic picture symmetry; Perhaps according to image, manually choosing measurand one characteristic point is the scanning datum mark.
Select the scanning datum mark to comprise on measurand, place gauge point in advance at the measurand body surface, the pick off in the scanning platform is sought the gauge point that is placed on the measurand body surface automatically, is decided to be the scanning datum mark according to the position of the gauge point that pick off found.
Selecting the scanning datum mark on measurand, is benchmark with the scanning datum mark, and measurand is carried out scanning, forms the precise ultrasound scanning view data.
Proofread and correct scanning system scanning reference coordinate and comprise, determine the initialized location of scanning platform; Determine the zero position of initialized location of scanning system and the relative position of scanning reference point location coordinate.
Determine that the scanning scope comprises, after proofreading and correct scanning system scanning reference coordinate, in the coverage of scanning platform, determine the scanning scope, form the coordinate of scanning scope, form the scanning route.
Precise ultrasound scanning comprises, by displacement control module and position sensing module, displacement control and accurate tolerance are carried out in the scanning relative displacement of X-direction and vertical direction Y direction in the horizontal direction of popping one's head in, form closed-loop control system, the displacement of control scanning probe, to carry out ultrasonic scanning, form scanogram at precise local fix.
On the scanning route, scanning is popped one's head under the driving of stepping motor, once pauses in each accurate spaced points, carry out a ultrasonic scanning, obtain the ultrasound scan image data of at least one frame, and this ultrasound scan image data is related with current probe coordinate position, store.
Second purpose of the present invention is to provide a kind of equipment that carries out standardized and precise ultrasound scanning, and scanning equipment has a scanning platform, is built-in with the scanning probe, and other has a central processing unit, a display and a memorizer.
Scanning equipment has a measurand fixed system, is made up of polylith rigid grid clamping plate and link thereof, and the grid clamping plate comprise, perpendicular to the clamping plate of X-axis, push to center fixation from the measurand two ends; Comprise graticule mesh, to the measurand fixed press perpendicular to the Z axle.The grid clamping plate adopt the pressure transducer of X axis to measure or adopt X axis clamping plate gear to fix in the extruding force of X axis, adopt the axial pressure transducer of Z to measure in the axial extruding force of Z.In the middle of the different scanning in front and back, adjust and preserve the grid clamping plate in the extruding force of X axis or the particular location and the axial extruding force of Z of clamping plate gear, make the pairing pressure parameter unanimity of the different scanning of each time, ensure the scanning that front and back are different, the fixed situation of measurand is basic identical, makes the view data of each time inspection have comparability.
Have a coordinate positioning in the scanning platform framework, comprise, a relative immobilized scanning datum mark with measurand; One obtains pick off with the relative immobilized scanning reference point location of scanning probe.Scanning probe moves, and obtains pick off by the scanning reference point location and obtains the scanning reference point location, with the position of the scanning datum mark reference coordinate as scanning.
Described scanning datum mark is a gauge point of the measurand body surface in the plane at X axis and Y-axis.
The scanning datum mark obtains pick off and is positioned at the scanning platform framework, is positioned on scanning probe and the plane that measurand contacts, is connected with the scanning probe.It is a colour code detecting sensor that the scanning datum mark obtains pick off.Pop one's head in when mobile in scanning, search is at the prepositioned color colour code gauge point of measurand body surface automatically for the colour code detecting sensor, and the position of the color colour code gauge point that the colour code detecting sensor is found is the scanning datum mark.
Also have an accurate scanning control system in the scanning platform framework, nose into a displacement control module and a position sensing module for sweeping.
System drives the scanning probe by the displacement control module and moves in X-axis and Y-axis plane, by the position sensing module detect the scanning probe X axis and Y-axis to relative displacement, obtain the physical location of scanning probe and feed back to position control module, form closed loop control, remedy the probe positions departure, finish accurate probe positions control and scanning.
Owing to the invention provides a kind of technology of the standardized and precise ultrasound scanning at mammary gland tissue, be convenient to mammary gland tissue is fixed, the location, the quantification of size pressure and accurate scanning, thus overcome the defective in the background technology.
Description of drawings
Fig. 1 a is the structural representation of present device.
Fig. 1 b is the cross section view along the B-B line of the scanning terrace part of present device.
Fig. 2 is the flow chart of overall summary scanning
Fig. 3 a is the sketch map that the grid clamping plate are fixed in the scanning platform.
Fig. 3 b is grid clamping plate and the isolating sketch map of scanning platform.
Fig. 4 a is the sketch map of Z axial compressive force pick off.
Fig. 4 b is the sketch map of X axis pressure transducer.
Fig. 4 c is the fixed sketch map of X axis clamping plate gear.
Fig. 5 a is the flow chart that grating is accurately located degeneration factor.
Fig. 5 b accurately locatees the localized flow chart of degeneration factor according to grating.
Fig. 6 a is a sketch map of placing color colour code gauge point on mammary gland tissue.
Fig. 6 b is a flow chart of proofreading and correct the scanning coordinate according to color colour code gauge point
Fig. 7 a is the sketch map of a pre-scanning image.
Fig. 7 b is a flow chart of manually choosing the scanning datum mark.
Fig. 7 c is a flow chart of choosing the scanning datum mark according to pattern recognition.
Fig. 7 d is a flow chart of proofreading and correct the scanning coordinate according to pre-scanning image automatically.
Fig. 8 is the flow chart that carries out a standardized and precise ultrasound scanning.
Fig. 9 is the flow chart that carries out standardized and precise ultrasound scanning check.
Figure 10 is at certain specified point, the flow chart of quick and precisely checking.
The specific embodiment
Fig. 1 a is the structural representation of present device, and Fig. 1 b is the cross section view along the B-B line of the scanning terrace part of present device.
Present device has a scanning platform 4, be one to have the rectangular frame of frame, this scanning platform 4 can adopt firm plastic material to make, the plane that this scanning platform 4 contacts with bilateral breast tissue tight is a scanning face 3, when carrying out scanning, this scanning face 3 covers the bilateral breast tissue for the treatment of scanning.The dual-side of scanning platform 4 frameworks respectively is equipped with leader 5 for operator's scanning basic fixed position, is fixed the bilateral breast tissue from vertical direction.The top of scanning platform 4 is fixedly connected on an end of the rocker stand 6 of adjustable position.This rocker stand 6 is connected to ultrasonic scan control operation platform 12, and a display 13 is arranged on ultrasonic scan control operation platform 12, and a central processing unit (CPU) 14 and a memorizer 15 are arranged in this ultrasonic scan control operation platform 12.
Device has scanning probe 2 in scanning platform 4 frameworks, and this scanning probe 2 can adopt the electronics linear array probe, to satisfy different sweep limits requirements.This scanning probe 2 is connected with stepping motor 1, is fixed in stepping motor 1 front end.Under stepping motor 1 drives, the motion scanning.Stepping motor 1 is by 14 controls (this type of step motor system is a known technology, and being such as but not limited to model is MSMA-02-2-A-1-F, MSMA-01-2-A-1F) of the central processing unit (CPU) in the ultrasonic scan control operation platform 12.
In scanning platform 4 frameworks, a coordinate positioning is arranged, be colour code detecting sensor 11.Be positioned on scanning probe 2 and the plane that mammary gland tissue contacts, popping one's head in scanning 2 is connected.When scanning probe 2 fast pre-scanning bilateral breasts are organized, the 11 automatic searchings of colour code detecting sensor are placed on bilateral breast in advance and organize color colour code gauge point on the body surface, and the position of the color colour code gauge point that colour code detecting sensor 11 is found is the scanning datum mark.Described scanning datum mark is organized a gauge point of body surface for bilateral breast in X-axis and Y-axis plane.
Wherein, described scanning datum mark is selected can also obtain by following method.The scanning probe 2 fast pre-whole bilateral breast tissues of scanning obtain a panoramic picture.According to panoramic picture, system adopts mode identification method, automatically the point that has special characteristic in the mammary gland tissue image is decided to be the scanning datum mark; Or, automatically mammary gland tissue image mid point is decided to be the scanning datum mark according to panoramic picture; Or according to panoramic picture, manually choosing mammary gland tissue 16 images one characteristic point is the scanning datum mark.
In scanning platform 4 frameworks, also have an accurate scanning control system, nose into a displacement control module and a position sensing module for sweeping.Sweeping and nosing into a displacement control module is stepping motor 1.One position sensing module respectively by be installed on X axis and Y-axis in scanning platform 4 frame edge to two groups of gratings 7 and corresponding photoelectric sensor 8 form.Two photoelectric sensors 8 are respectively perpendicular to the grating 7 of correspondence.Two photoelectric sensors 8 are popped one's head in by bonding way and scanning and 2 are fixedlyed connected.When scanning is popped one's head in when mobile, photoelectric sensor reads the input of grating scale, obtain accurate scanning probe X axis and Y-axis to relative displacement.
System drives scanning probe 2 respectively along X-axis and Y-axis plane motion by stepping motor 1.The position sensing module of forming by photoelectric sensor 8 and grating 7 detect scanning probe 2 X axis and Y-axis to displacement, draw the actual position coordinate of current scanning probe 2, by feedback scanning 2 actual position coordinate correction motors 1 output of popping one's head in, constitute closed loop control, the mobile and position of accurately controlling scanning probe 2 is to finish accurate scanning.
Fig. 2 is the flow chart of overall summary scanning.
Fig. 3 a is the sketch map that the grid clamping plate are fixed in the scanning platform.
At first, at scanning platform 4 and bilateral breast tissue 16 tight scanning faces that contact, bonding or other lock mode devices have the graticule mesh 18 of the inflexible square net shape of polylith by screw, the grid scanning face of scanning face is fixed in formation one, this graticule mesh 18 is the plane of rule, has permeability.
Secondly, mobile rocker stand 6, and hold 4 liang of side grips 5 of scanning platform and axially be fixed and clamped to bilateral breast tissue 16 along Z, the grid scanning face of scanning platform 4 is fully closely contacted with mammary gland tissue 16 body surfaces, by each pressure transducers 9 of four edges in scanning platform 4 frameworks or a pressure transducer 10 in scanning platform 4 centers and grid scanning face that bilateral breast tissue 16 contacts, measure scanning platform 4 along Z axially to the extruding force of bilateral breast tissue 16, read and adjust Z axial compressive force sensor values this moment, and be saved in the memorizer.And evenly coating couplant between the scanning face of scanning platform 4 and the graticule mesh 17 and between graticule mesh 18 and the bilateral breast tissue 16.
At last, will organize two ends, 16 left and right sides to push from bilateral breast perpendicular to the clamping plate 17 of X-axis to center fixation.By being installed on clamping plate 17 inboards, measure clamping plate along the extruding force of X axis to bilateral breast tissue 16 with the pressure transducer 19 on the plane of 16 liang of end in contact of bilateral breast tissue.Read and adjust X axis pressure transducer value this moment, and be saved in the memorizer.Or, by device at the clamping plate gear on two parallel X axis of scanning platform 4 frame edge with install clamping plate gear on clamping plate 17 and two of the diagnostic bed junction parallel X axis, strap 17 organizes two ends, 16 left and right sides to move to the center along X axis from bilateral breast particular location.Read and adjust clamping plate gear particular location, and be saved in the memorizer.
Fig. 3 b is grid clamping plate and the isolating sketch map of scanning platform.
At first, graticule mesh 18 is axially pushed to bilateral breast tissue 16 along Z, place on the bilateral breast tissue 16, fasten bilateral breast tissue 16 by frenulum or other lock modes of graticule mesh 18 edges at two ends.By the pressure transducer 9 of four edges in scanning platform 4 frameworks or in scanning platform 4 frameworks a pressure transducer 10 in center and the scanning face that bilateral breast tissue 16 contacts, survey grid along Z axially to the extruding force of bilateral breast tissue 16, read and adjust Z axial compressive force sensor values this moment, and be saved in the memorizer.And between graticule mesh 18 and bilateral breast tissue 16, evenly coat couplant.
Secondly, will organize two ends, 16 left and right sides to push from bilateral breast along clamping plate 17 perpendicular to X-axis to center fixation.By being installed on clamping plate 17 inboards, measure clamping plate along the extruding force of X axis to bilateral breast tissue 16 with the pressure transducer 19 on the plane of 16 liang of end in contact of bilateral breast tissue.Read and adjust X axis pressure transducer value this moment, and be saved in the memorizer.Or, by device at the clamping plate gear on two parallel X axis of scanning platform 4 frame edge with install clamping plate gear on clamping plate 17 and two of the diagnostic bed junction parallel X axis, strap 17 organizes two ends, 16 left and right sides to move to the center along X axis from bilateral breast particular location.Read and adjust clamping plate gear particular location, and be saved in the memorizer.
At last, mobile rocker stand 6, and the handle 5 of holding scanning platform 4 both sides axially is fixed and clamped to bilateral breast tissue 16 along Z, and the scanning face of scanning platform 4 is fully closely contacted with graticule mesh 18.By each pressure transducers 9 of four edges in scanning platform 4 frameworks or a pressure transducer 10 in scanning platform 4 centers and scanning face that bilateral breast tissue 16 contacts, measure scanning platform 4 along Z axially to the extruding force of bilateral breast tissue 16, read and adjust Z axial compressive force sensor values this moment, and be saved in the memorizer.This pressure transducer axially organizes 16 squeezing pressure pick offs consistent to bilateral breast with survey grid 18 along Z.And between the scanning face of scanning platform 4 and graticule mesh 18, evenly coat couplant.
Fig. 4 a is the sketch map of Z axial compressive force pick off.
Four edges in the scanning platform framework respectively are equipped with a pressure transducer 9 or the scanning face that contacts with the bilateral breast tissue in scanning platform center is built-in with a pressure transducer 10, be used for measuring the grid clamping plate along Z axially to the extruding force of bilateral breast tissue.
Fig. 4 b is the sketch map of X axis pressure transducer.
Along clamping plate 17 inboards perpendicular to X-axis, to organize on the plane of two end in contact with bilateral breast, device has pressure transducer 19, is used for measuring clamping plate 17 and organizes the extruding force of two ends, the left and right sides to the center along X axis from bilateral breast.
Fig. 4 c is the fixed sketch map of X axis clamping plate gear.
Clamping plate gear 21 is arranged and with two of the diagnostic bed junction parallel X axis also each device clamping plate gear 21 is arranged at each device of two the parallel X axis in scanning platform framework edge, be used for fixing the particular location that clamping plate 17 organize two ends, the left and right sides to move to the center along X axis from bilateral breast at clamping plate 17.
Fig. 5 a is the flow chart that grating is accurately located degeneration factor.
Step 501 under central processing unit (CPU) control, is imported stepping motor with input position.
Step 503 draws the physical location that scanning is popped one's head in by grating, and reads the actual position information that scanning is popped one's head in by photoelectric sensor, and the physical location of scanning probe is fed back to stepping motor.If scanning probe physical location and input position have error, then be set at the shift length of scanning probe fine setting with this error distance.
Step 504 is imported stepping motor once more with the shift length of this fine setting, and the scanning probe is motion once more under stepping motor drives, and is moved to the exact position by Step-motor Control scanning probe.
Fig. 5 b accurately locatees the localized flow chart of degeneration factor according to grating.
Step 505 is under central processing unit (CPU) control, with target location S
1(X
1, Y
1) the input stepping motor.
Step 507 is if scanning probe physical location and Target Location Error are Δ S (X
1-X
2, Y
2-Y
2), and | X
1-X
2| and | Y
1-Y
2| difference≤d
0, d
0Be initialization system error allowed band, then the scanning probe has been finished once accurately location, has found the precision target position of setting.
Step 508 is if scanning probe physical location and Target Location Error are Δ S (X
1-X
2, Y
1-Y
2), and | X
1-X
2| and | Y
1-Y
2| difference＞d
0, then with error displacement distance, delta S (X
1-X
2, Y
1-Y
2) import stepping motor once more.Scanning is popped one's head under stepping motor drives once more along X axis stepping X
1-X
2With along Y-axis to stepping Y
1-Y
2, and be moved to the target location of setting by Step-motor Control scanning probe.Draw scanning probe physical location by grating, and read the actual position information that scanning is popped one's head in, and the physical location of scanning probe is fed back to stepping motor by photoelectric sensor.
Step 509 is Δ S≤d up to scanning probe physical location and Target Location Error
0, | X
1-X
2| and | Y
1-Y
2| difference≤d
0Just finished once and accurately located, found the precision target position of setting.
Fig. 6 a is a sketch map of placing color colour code gauge point on mammary gland tissue.
On a side nipple of bilateral breast tissue, place color colour code gauge point 20 in advance.Under central processing unit (CPU) control, in the scope that the scanning platform covers, scanning probe drives lower edge X axis and Y-axis to plane motion at stepping motor, be positioned on scanning probe and the plane that the bilateral breast tissue contacts, seek color colour code gauge point 20 automatically with the colour code detecting sensor that the scanning probe is connected.When the colour code detecting sensor overlapped with color colour code gauge point 20, the position of the color colour code gauge point 20 that the colour code detecting sensor is found was defined as the scanning datum mark, and this scanning reference point location is saved in the memorizer.
Fig. 6 b is a flow chart of proofreading and correct the scanning coordinate according to color colour code gauge point.
Step 605 is if the actual origin position of scanning probe and the initial origin position error of default are Δ S (X
0-X
01, Y
0-Y
01), and | X
0-X
01| and | Y
0-Y
01| difference≤O
0, O
0Be the former point tolerance allowed band of initialization system, then proofread and correct the scanning coordinate and finish.
Step 606 is if the actual origin position of scanning probe and the initial origin position error of default are Δ S (X
0-X
01, Y
0-Y
01), and | X
0-X
01| and | Y
0-Y
01| difference＞O
0, then the scanning probe need continue to repeat above-mentioned correction scanning coordinate stroke,
Step 607 is up to the actual origin position of scanning probe and the initial origin position error delta S≤O of default
0, proofread and correct the scanning coordinate and just finish.
The scanning probe is from scanning platform framework upper left corner origin position, and scanning scanning datum mark is moved to the lower right corner in the scanning platform framework relatively, and institute's coverage is the scanning scope, and the scanning scope covers the bilateral breast tissue.
Fig. 7 a is the sketch map of a pre-scanning image.
Under central processing unit (CPU) control, in the coverage of scanning platform, the scanning probe is under stepping motor drives, along X axis and Y-axis to plane motion, bilateral breast organized finish once fast pre-scanning automatically, obtain panoramic picture data, and bilateral breast tissue image 22 is presented on the display.
Fig. 7 b is a flow chart of manually choosing the scanning datum mark.
Fig. 7 c is a flow chart of choosing the scanning datum mark according to pattern recognition.
Fig. 7 d is a flow chart of proofreading and correct the scanning coordinate according to pre-scanning image automatically.
Step 711 is if the actual origin position of scanning probe and the origin position error of default are Δ S (X
0-X
01, Y
0-Y
01), and | X
0-X
01| and | Y
0-Y
01| difference≤O
0, then proofread and correct the scanning coordinate and finish.
Step 712 is if the actual origin position of scanning probe and the origin position error of default are Δ S (X
0-X
01, Y
0-Y
01), and | X
0-X
01| and | Y
0-Y
01| difference＞O
0, then the scanning probe need continue to repeat above-mentioned correction scanning coordinate stroke.
Step gathers 713, up to the actual origin position of scanning probe and the origin position error delta S≤O of default
0, proofread and correct the scanning coordinate and just finish.
The scanning probe is from pre-scanning image upper left corner origin position, and scanning scanning datum mark is moved to the pre-scanning image lower right corner relatively, and institute's coverage is the scanning scope, and the scanning scope covers the bilateral breast tissue.
Fig. 8 is the flow chart that carries out a standardized and precise ultrasound scanning.
During scanning, the scanning probe keeps relative static with the measured.
Step 801 will be fastened by frenulum or other lock modes of graticule mesh edges at two ends along the axial graticule mesh of Z to the extruding of bilateral breast fixation of tissue.
Step 802 reads the pressure transducer value of four edges in the scanning platform framework or the interior pressure transducer value of scanning face that the interior center of scanning platform framework contacts with the bilateral breast tissue, and preserves Z axial compressive force sensor values.
Step 803 will be along organizing two ends to push to center fixation perpendicular to the X axis clamping plate from bilateral breast.
Step 806 is proofreaied and correct the scanning reference coordinate according to color colour code gauge point.The scanning probe is under stepping motor drives, with color colour code gauge point position, be that the scanning reference point location is a reference point, accurately locate degeneration factor and accurately locate the degeneration factor location by grating according to grating, proofreading and correct the interior upper left corner of scanning platform framework is scanning initialized location zero position, determines the relative position of zero position and scanning datum mark coordinate position.The scanning probe is from scanning platform framework upper left corner origin position, and scanning scanning datum mark is moved to the lower right corner in the scanning platform framework relatively, and institute's coverage is the scanning scope, and the scanning scope covers the bilateral breast tissue.
Or, proofread and correct the scanning reference coordinate automatically according to pre-scanning image.The scanning probe is finished once fast pre-scanning automatically under the moving driving of stepping motor, obtain panoramic picture.Accurately locate degeneration factor and accurately locate the degeneration factor location by grating according to grating, the upper left corner of determining pre-scanning panoramic picture is scanning initialized location zero position, determines the relative position of zero position and scanning datum mark coordinate position.The scanning probe is from pre-scanning image upper left corner origin position, and scanning scanning datum mark is moved to the pre-scanning image lower right corner relatively, and institute's coverage is the scanning scope, and the scanning scope covers the bilateral breast tissue.
Step 808 is under central processing unit (CPU) control, in the scanning scope, the scanning probe begins under stepping motor drives from the zero position, to plane motion, and accurately control the target location that the scanning probe is moved to setting along X axis and Y-axis, scan by stepping motor.When scanning, scanning probe remains on vertical direction, and to be parallel to Z axially motionless, the scanning probe once pauses on each accurate spaced points, carry out a ultrasonic scanning, obtain the ultrasound scan image data of at least one frame, and this ultrasound scan image data is related with current probe coordinate position, all be saved in the memorizer.
To in the scanning scope, the ultrasonic three-dimensional view data that obtains, 3-D view and current scanning probe coordinate position relation all be saved in the memorizer.
Fig. 9 is the flow chart that carries out standardized and precise ultrasound scanning check.
During check, the scanning probe keeps relative static with the measured.
Step 902 will be along the axial graticule mesh of Z to the extruding of bilateral breast tissue, and adjusts the extruding force of the axial graticule mesh of Z and fixing bilateral breast tissue according to the pressure transducer value of preserving.Read pressure transducer value this moment, guarantee not homogeneous scanning pressure parameter unanimity of front and back.
Step 903 will organize two ends to push to the center from bilateral breast along the clamping plate of X axis, and adjust the pressure of X axis clamping plate and fixing bilateral breast tissue according to the particular location of pressure transducer value of preserving or clamping plate gear.Read the particular location of this moment pressure transducer value or clamping plate gear, homogeneous scanning pressure parameter unanimity not before and after guaranteeing.
Step 904, under central processing unit (CPU) control, in scanning platform coverage, the scanning probe is under stepping motor drives, to plane motion, the automatic searching of colour code detecting sensor is placed on the Supramammillary color colour code gauge point of mammary gland tissue in advance along X axis and Y-axis.It is the scanning datum mark that the position of the color colour code gauge point that the colour code detecting sensor found is fixed tentatively.Accurately locate degeneration factor and accurately locate the degeneration factor location according to scanning reference point location coordinate initial value of being preserved and grating, adjust current scanning reference point location, find initial scanning datum mark according to grating.
Or scanning is popped one's head under stepping motor drives, and bilateral breast is organized finished once fast pre-scanning automatically, obtains a panoramic picture.According to panoramic picture, manually choose the scanning datum mark or adopt mode identification method to choose the scanning datum mark, accurately locate degeneration factor and accurately locate the degeneration factor location according to scanning reference point location coordinate of being preserved and grating according to grating, the scanning reference point location of choosing during to check is finely tuned, and finds initial scanning datum mark.
Step 905 is proofreaied and correct the scanning reference coordinate according to color colour code gauge point.The color colour code gauge point position of scanning probe to find, promptly the scanning reference point location is a reference point, under the moving driving of stepping motor, is moved to the scanning platform framework upper left corner, system is scanning zero position with its upper left corner.By the initial origin position that grating is accurately located degeneration factor and accurately located the degeneration factor location and preserve according to grating, calibration coordinate origin position.The scanning probe is from scanning platform framework upper left corner origin position, and scanning scanning datum mark is moved to the lower right corner in the scanning platform framework relatively, according to the scanning scope of preserving, proofreaies and correct scanning platform framework lower right corner coordinate position, finds initial scanning scope.
Or, proofread and correct the scanning reference coordinate automatically according to pre-scanning image.According to panoramic picture, the scanning probe is a reference point with the scanning datum mark that finds, and under stepping motor drives, is moved to the panoramic picture upper left corner, and system is scanning zero position with its upper left corner.By the initial coordinate origin position that grating is accurately located degeneration factor and accurately located the degeneration factor location and preserve according to grating, calibration coordinate origin position.The scanning probe is from pre-scanning image upper left corner origin position, and scanning scanning datum mark is moved to the pre-scanning image lower right corner relatively, according to the scanning scope of preserving, proofreaies and correct pre-scanning image lower right corner coordinate position, finds initial scanning scope.
Figure 10 is at certain specified point, the flow chart of quick and precisely checking.
Step 1001 is when certain specified point of check, under central processing unit (CPU) control, with the position input stepping motor of certain specified point.
Step 1002, in the scanning scope that finds, scanning probe is a starting point with the scanning zero position after proofreading and correct, under stepping motor drives, respectively along X axis and Y-axis to stepping, and be moved to certain specified point position by Step-motor Control scanning probe.Draw scanning probe actual position coordinate after the displacement by grating, and read scanning probe actual position coordinate information, and the physical location of scanning probe is fed back to stepping motor by photoelectric sensor.
Step 1003 is if scanning probe physical location and specified point site error are Δ S≤d
0, then the scanning probe has found certain specified point.
Step 1004 is if scanning probe physical location and specified point site error are Δ S＞d
0, then with error shift length input stepping motor, once more along X axis and Y-axis to stepping, and be moved to certain specified point position once more by Step-motor Control scanning probe.Draw scanning probe physical location by grating, and read scanning probe actual position coordinate information by photoelectric sensor.And will this moment scanning probe actual position coordinate feed back to stepping motor, be Δ S≤d up to scanning probe physical location and specified point site error
0, the scanning probe just finds certain specified point.
Step 1005, scanning probe certain specified point to finding carries out ultrasonic scanning, obtains the ultrasound scan image data of a frame.When carrying out the ultrasonic scanning specified point, scanning probe remains on vertical direction, and to be parallel to Z axially motionless.
Claims (29)
1, a kind of method of carrying out standardized and precise ultrasound scanning, wherein scanning equipment has a scanning platform, in scanning probe is arranged, it is characterized in that comprising:
Fixing measurand; And
On measurand, select the scanning datum mark; And
Proofread and correct the scanning reference coordinate; And
Determine the scanning scope; And
With the scanning datum mark is benchmark, and measurand is carried out scanning, forms the precise ultrasound scanning view data.
2, according to claim 1, described fixedly measurand comprises the along continuous straight runs X-axis, pushes to center position from two ends, fixedly measurand.
3, according to claim 1, described fixedly measurand comprises vertically Z axle, to the extruding of measurand direction, fixedly measurand.
4, as described in the claim 2, described along continuous straight runs X-direction is measurand fixedly, adopts gaging pressure to measure to regulate or adopts gear to measure adjusting.
5, as described in the claim 3, described vertically Z-direction is measurand fixedly, adopts gaging pressure to measure adjusting.
6, according to claim 1, described fixedly measurand comprise the vertical position of measurand be parallel to Y-axis to.
7, according to claim 1, described scanning scope comprises a specific scanning point, is benchmark with the scanning datum mark, carries out precise displacement, and the specific scanning point of measurand is carried out scanning, forms the precise ultrasound scanning view data.
8, according to claim 1, described scanning scope comprises a specific scanning scope, is benchmark with the scanning datum mark, carries out displacement, specific scanning scope is carried out scanning cover, and forms the precise ultrasound scanning view data.
9, according to claim 1, wherein on measurand, select the scanning datum mark to comprise, in the scanning coverage of scanning platform, finish once fast pre-scanning automatically, obtain a panoramic picture, choose datum mark according to panoramic picture.
10,, wherein in panoramic picture, select the scanning datum mark to comprise that system is decided to be the scanning datum mark according to adopting pattern recognition with the point that meets special characteristic in the image as described in the claim 9.
11,, wherein in panoramic picture, select the scanning datum mark to comprise that system is labeled as the scanning datum mark according to the panoramic picture symmetry with the image mid point as described in the claim 9;
According to panoramic picture, manually choosing measurand one characteristic point is the scanning datum mark.
12, according to claim 1, wherein on measurand, select the scanning datum mark to comprise, place gauge point in advance at the measurand body surface, pick off in the scanning platform is sought the gauge point that is placed on the measurand body surface automatically, is decided to be the scanning datum mark according to the position of the gauge point that pick off found.
13, according to claim 1, wherein proofread and correct scanning system scanning reference coordinate and comprise, determine the initialized location of scanning platform; And
Determine the zero position of initialized location of scanning system and the relative position of scanning reference point location coordinate.
14, according to claim 1, determine that wherein the scanning scope comprises, after proofreading and correct scanning system scanning reference coordinate, in the coverage of scanning platform, determine the scanning scope, form the coordinate of scanning scope, form the scanning route.
15, precise ultrasound scanning as claimed in claim 1 comprises, adopt accurately tolerance, the scanning relative displacement of X-axis and vertical direction Y direction in the horizontal direction of popping one's head in is accurately measured, form closed-loop control system, the control step motor carries out displacement, carry out ultrasonic scanning at precise local fix, form scanogram.
16, as described in the claim 14, on the scanning route, the scanning probe is under the driving of stepping motor, once pause in each accurate spaced points, carry out a ultrasonic scanning, obtain the ultrasound scan image data of at least one frame, and this ultrasound scan image data is related with current probe coordinate position, store.
Comprise as claim 1 or 15 described precise ultrasound scannings that 17, when carrying out ultrasonic scanning, scanning probe remains on vertical direction, and to be parallel to Z axially motionless.
18, a kind of equipment that carries out standardized and precise ultrasound scanning, scanning equipment has a scanning platform, in scanning probe is arranged, other has a central processing unit, a display, a memorizer is characterized in that:
One measurand fixed system is arranged;
One coordinate positioning is arranged;
One accurate scanning control system is arranged.
19, as described in the claim 18, wherein the measurand fixed system comprises the along continuous straight runs X-direction, clamping plate perpendicular to the horizontal direction X-axis, push to center position from two ends, fixing measurand, it is regulated and adopts horizontal direction X axis pressure transducer to measure or adopt the clamping plate gear to fix.
20, as described in the claim 18, wherein the measurand fixed system comprises vertically Z-direction, perpendicular to the clamping plate of vertical direction Z axle, to the extruding of measurand direction, fixedly measurand.
21, as described in the claim 20, wherein the measurand fixed system comprises the vertically pressure transducer of Z-direction, measures to measurand direction squeezing pressure, regulates the position of the clamping plate of vertical direction Z-direction.
22, as described in the claim 19,20 or 21, wherein said clamping plate are the grid clamping plate.
23, as described in the claim 18, wherein coordinate positioning comprises:
One relative immobilized scanning datum mark with measurand;
One obtains pick off with the relative immobilized scanning reference point location of scanning probe;
Scanning probe moves, and obtains pick off by the scanning reference point location and obtains the scanning reference point location, with the position of the scanning datum mark reference coordinate as scanning.
24, as described in the claim 23, scanning datum mark wherein, in X-axis and the vertical direction Y-axis plane in the horizontal direction a bit.
25, as described in claim 23 or 24, scanning datum mark wherein is the gauge point at the measurand body surface.
26, as described in the claim 23,24 or 25, scanning datum mark wherein is a color colour code gauge point; It is a colour code detecting sensor that the scanning reference point location obtains pick off.
27, as described in the claim 23,24 or 25, scanning datum mark wherein is the measurand characteristic point; The scanning reference point location is retrieved as according to pre-scanning image, carries out pattern recognition; Or from pre-scanning image, choose.
28, as described in the claim 18, wherein accurately scanning control system comprises:
Sweep and nose into a displacement control module;
One position sensing module;
System drives the scanning probe by the displacement control module and moves in X-axis and Y-axis plane, detect of the relative displacement of scanning probe by the position sensing module in X-axis and Y direction, obtain the physical location of scanning probe and feed back to position control module, form closed loop control, finish accurate probe positions control and scanning.
29, as described in the claim 28, on the scanning route, the scanning probe is under the control of accurate scanning control system, once pause in each accurate spaced points, carry out a ultrasonic scanning, obtain the ultrasound scan image data of at least one frame, and the coordinate position of this ultrasound scan image data and current probe is related, and the memory device that sends to scanning equipment is stored.
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