CN102499762B - Three-dimensional spatial positioning system for medical ultrasonic probe relative to part to be checked and method - Google Patents
Three-dimensional spatial positioning system for medical ultrasonic probe relative to part to be checked and method Download PDFInfo
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- CN102499762B CN102499762B CN201110374893.2A CN201110374893A CN102499762B CN 102499762 B CN102499762 B CN 102499762B CN 201110374893 A CN201110374893 A CN 201110374893A CN 102499762 B CN102499762 B CN 102499762B
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Abstract
The invention discloses a three-dimensional spatial positioning system for a medical ultrasonic probe relative to a part to be checked, which comprises an image acquisition module, an ultrasonic probe, a communication module and a computer module. The inside or surface of the ultrasonic probe is provided with a three-axis gyroscope. In a specific positioning method, video signals of the probe on a specific anatomical part of a human body are obtained through the image acquisition module, the three-axis gyroscope is used for determining the state of the three-dimensional space with the ultrasonic probe, and the communication module is used for respectively transmitting data obtained by the three-axis gyroscope and the image acquisition module to the computer module; and the computer module is used for processing the video signals of the probe on the specific anatomical part obtained through the image acquisition module and information on the state of the space with the probe sensed by the three-axis gyroscope, and promptly and synchronously displaying the information on a screen. The defect of no probe information in the current ultrasonic diagnosis can be overcome, and necessary diagnostic information can be provided for ultrasonic diagnosis.
Description
Technical field
The present invention relates to medical ultrasonic probe three-dimensional space position Information locating system, the concrete application that comprises space orientation technique, belongs to medical instruments field.
Background technology
Along with the development of modern medicine image technology, ultrasonic imaging diagnosis is also day by day remarkable to the help of clinical disease diagnosis work.For ultrasonic diagnosis, the quality of image is no doubt extremely important, but ultrasonoscopy is body local fault image, be not similar to the network for location that CT, MRI check, if diagnostician is operation in person not, for a static ultrasonoscopy, doctor often cannot judge that this figure is the section at what position, the diagnosis of more having no way of.If the spatial positional information of ultrasonic probe for check point can be provided simultaneously, as body surface position, center probe place, space angle relation, the region of anatomy and the coherent video feature thereof that can make diagnostician can accurately judge that ultrasonogram is shown.
At present in ultrasonic imaging diagnosis system, looking into that patient's image data stores local disk into and while uploading to the computer of information centre, in these image datas, lack the probe spatial positional information corresponding to check point, be unfavorable for later retrospective diagnostic analysis and contrast, be also unfavorable for carrying out expert's remote diagnosis analysis and guidance.
Ultrasonic examination is an inspection that operability is very strong, is different from the standard section of CT, MRI, although also there is the dissection section of some standards, in most cases, tangent plane that can clear demonstration focus is not on the dissection section of those standards.The randomness of ultrasonic tangent plane, is also one of ultrasonographic advantage, can be observed by multiple different tangent planes, but require the skilled assurance of inspecting doctor to ultrasonic probe to same focus.The demonstration of its corresponding probe place particular location of the Ultrasonographic that therefore those is contained to diagnostic message and space angle relation is particularly important.If lack these information of probe, those experts that do not carry out practical operation can produce adverse influence in the time carrying out diagnostic analysis and instruct, and even cannot make effective judgement.Equally, if lack these information of probe, in the time carrying out retrospective diagnostic analysis, even the probe that original inspecting doctor also possibly cannot recall at that time checks state, thereby the diagnosis of disease is had a negative impact.
Modern gyroscope is a kind of instrument that can accurately determine the orientation of moving object, and its development has very important strategic importance to a national industry, national defence and other high-tech development.Traditional mechanical type inertia gyroscope requires high, complex structure to process structure, and its precision is subject to many-sided restriction.From the seventies in last century, modern gyrostatic development has entered the brand-new stage, and fibre optic gyroscope and laser resonance gyroscope have a great development.Fibre optic gyroscope has the advantages such as compact conformation, highly sensitive, reliable operation, has replaced mechanical type tradition gyroscope in a lot of fields, becomes the critical component of modern navigator.Except ring type lasergyro, integrated form vibratory gyroscope is also modern gyrostatic important development direction, and it has higher integrated level, volume is less.Present widely used MEMS gyro (micromechanics) has been widely used in the fields such as Aeronautics and Astronautics, navigation, weapons, automobile, biomedicine, environmental monitoring, and MEMS gyro is compared traditional gyroscope and had more obvious advantage: 1. volume is little, lightweight; 2. low cost; 3. high reliability, inner no-rotary part, all solid state device, Chinese People's Anti-Japanese Military and Political College's overload impact, long working life; 4. low-power consumption; 5. wide range; 6. be easy to digitized, intellectuality, can numeral export temperature-compensating, zero correction etc.
Summary of the invention
Technical problem to be solved by this invention is the shortcoming that lacks probe information in current above-mentioned ultrasonic diagnosis in order to overcome, the three-dimensional fix system of a kind of medical ultrasonic probe with respect to check point proposed, MEMS gyroscope is applied to ultrasonic diagnosis work, orientation, level, position, speed and acceleration etc. that can perception ultrasonic probe, the catching sonde body table position in conjunction with camera head, can make up the deficiency that lacks probe information in current ultrasonic diagnosis, for ultrasonic diagnosis provides necessary diagnostic message.
The present invention is for solving the problems of the technologies described above by the following technical solutions:
Medical ultrasonic probe, with respect to a three-dimensional fix system for check point, comprises image collection module, ultrasonic probe, communication module and computer module, and wherein the inside of ultrasonic probe or surface are provided with three-axis gyroscope; Described image collection module is for obtaining the video signal of the concrete region of anatomy of ultrasonic probe place human body, described three-axis gyroscope is for determining the residing three dimensions state of ultrasonic probe, and the data that communication module is obtained three-axis gyroscope, image collection module are respectively sent to computer module; The probe spatial state information of the video signal of the concrete region of anatomy of probe that computer module obtains for the treatment of image collection module and the perception of three-axis gyroscope institute, and by its real-time simultaneous display on computer screen.
The technical scheme of further optimizing as the present invention, described image collection module comprises photographic head, camera head fixing device, and wherein photographic head is fixed on examinating couch top, and coverage covers the inspection area of ultrasonic probe; Camera head fixing device is elongated rod shape, and its lower end is fixedly connected with photographic head, and upper end is connected with the slide rail of ceiling.
The technical scheme of further optimizing as the present invention, described three-axis gyroscope is laminar three-axis gyroscope chip, inside is integrated with microscopic electro-mechanical systems.
The invention also discloses the three-dimensional fix method of a kind of medical ultrasonic probe with respect to check point, it is characterized in that, comprise the steps:
Step (1), the position of adjusting photographic head, makes the coverage of photographic head cover the inspection area of ultrasonic probe;
Step (2), while carrying out ultrasonic examination, synchronously starts photographic head and takes continuously, obtains the video signal of the concrete region of anatomy of ultrasonic probe place human body;
Step (3), the video signal that step (2) is obtained is sent to computer module by communication module, and on computer screen, ad-hoc location carries out simultaneous display;
Step (4) starts three-axis gyroscope and determines the residing three dimensions state of ultrasonic probe in carrying out step (2), then information exchange is crossed to communication module and is sent to computer module;
Step (5), computer module carries out simultaneous display with the form of three dimensions numerical value at the ad-hoc location of computer screen by the determined spatial state information of step (4).
The present invention adopts above technical scheme compared with prior art, has following technique effect:
Reasonable in design, easy to use simple and direct, the Ultrasonographic that comprises related probes information is more accurate and complete, accurate analysis and the diagnosis of expert to conditions of patients while contributing to remote diagnosis, effectively instruct diagnosis and the treatment operation of remote physician, also contribute to clinical carry out retrospective diagnosis and analysis.
Brief description of the drawings
Fig. 1 is population structure schematic diagram of the present invention, number in the figure: 1 is diasonograph, and 2 is ultrasonic probe, and 3 is three-axis gyroscope, and 4 is photographic head, and 5 is computer, and 6 is display.
Detailed description of the invention
Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail:
As shown in Figure 1, the three-dimensional fix system of this method comprise image collection module, containing ultrasonic probe, communication module, computer module and the display screen of three-axis gyroscope.Wherein, image processing module comprises a photographic head, is placed on examinating couch top by fixture, and coverage covers the inspection area of ultrasonic probe; The camera head fixing device upper end of elongated rod shape is connected with the slide rail of ceiling, can carry out all around slip, also can carry out length adjusting; In ultrasonic probe, (or probe is outer) installs laminar three-axis gyroscope chip, and inside is integrated with microscopic electro-mechanical systems; Communication module, for the microprocessor of probe inner (or probe is outer), is connected with three-axis gyroscope chip, memorizer, computer general-purpose interface respectively with data wire by bus; Computer is processed the video signal of the concrete region of anatomy of probe that photographic head catches and the probe spatial positional information that three-axis gyroscope is experienced simultaneously, and by its real-time simultaneous display on screen.
Three-dimensional fix method concrete steps of the present invention are as follows:
Step (1), before inspection, regulates the position of photographic head, makes the coverage of photographic head cover the inspection area of ultrasonic probe;
Step (2), while carrying out scanning, synchronously starts photographic head and takes continuously in this region, obtains the video signal of the concrete region of anatomy of ultrasonic probe place human body;
Step (3), the video signal that step (2) is obtained is sent to computer module by communication module, and on display screen, ad-hoc location carries out simultaneous display;
Step (4) starts three-axis gyroscope and determines the residing three dimensions state of ultrasonic probe in carrying out step (2), then information exchange is crossed to communication module and is sent to computer module;
Step (5), computer module is presented at the determined spatial state information of step (4) ad-hoc location of screen with the form of numerical value (X, Y, Z axis angle).
Claims (3)
1. medical ultrasonic probe, with respect to a three-dimensional fix system for check point, is characterized in that: comprise image collection module, ultrasonic probe, communication module and computer module, wherein the inside of ultrasonic probe or surface are provided with three-axis gyroscope; Described image collection module is for obtaining the video signal of the concrete region of anatomy of ultrasonic probe place human body, described three-axis gyroscope is for determining the residing three dimensions state of ultrasonic probe, and the data that communication module is obtained three-axis gyroscope, image collection module are respectively sent to computer module; The ultrasonic probe spatial state information of the video signal of the concrete region of anatomy of ultrasonic probe that computer module obtains for the treatment of image collection module and the perception of three-axis gyroscope institute, and by its real-time simultaneous display on computer screen;
Described image collection module comprises photographic head, camera head fixing device, and wherein photographic head is fixed on examinating couch top, and coverage covers the inspection area of ultrasonic probe; Camera head fixing device is elongated rod shape, and its lower end is fixedly connected with photographic head, and upper end is connected with the slide rail of ceiling.
2. medical ultrasonic probe according to claim 1, with respect to the three-dimensional fix system of check point, is characterized in that: described three-axis gyroscope is laminar three-axis gyroscope chip, and inside is integrated with microscopic electro-mechanical systems.
3. medical ultrasonic probe, with respect to a three-dimensional fix method for check point, is characterized in that, comprises the steps:
Step (1), the position of adjusting photographic head, makes the coverage of photographic head cover the inspection area of ultrasonic probe;
Step (2), while carrying out ultrasonic examination, synchronously starts photographic head and takes continuously, obtains the video signal of the concrete region of anatomy of ultrasonic probe place human body;
Step (3), the video signal that step (2) is obtained is sent to computer module by communication module, and on computer screen, ad-hoc location carries out simultaneous display;
Step (4) starts three-axis gyroscope and determines the residing three dimensions state of ultrasonic probe in carrying out step (2), then information exchange is crossed to communication module and is sent to computer module;
Step (5), computer module carries out simultaneous display with the form of three dimensions numerical value at the ad-hoc location of computer screen by the determined spatial state information of step (4).
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| CN201110374893.2A CN102499762B (en) | 2011-11-23 | 2011-11-23 | Three-dimensional spatial positioning system for medical ultrasonic probe relative to part to be checked and method |
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| CN201110374893.2A CN102499762B (en) | 2011-11-23 | 2011-11-23 | Three-dimensional spatial positioning system for medical ultrasonic probe relative to part to be checked and method |
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Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103690191B (en) * | 2013-12-03 | 2016-03-02 | 华南理工大学 | A kind of ultrasonic probe intelligence continuous sweep device and scan method thereof |
| CN104257399B (en) * | 2014-09-29 | 2016-09-07 | 苏州佳世达电通有限公司 | Ultrasound scanning system, ultrasound scanning method and ultrasound scanner head |
| CN104825190A (en) * | 2015-05-12 | 2015-08-12 | 李会英 | Ultrasonic diagnosis device |
| CN106108951B (en) * | 2016-07-26 | 2019-01-22 | 上海市第一人民医院 | A kind of medical real-time three-dimensional location tracking system and method |
| CN107212901A (en) * | 2017-05-18 | 2017-09-29 | 山东科技大学 | The portable imaging device and imaging system of a kind of medical diagnosis |
| CN109223030B (en) | 2017-07-11 | 2022-02-18 | 中慧医学成像有限公司 | Handheld three-dimensional ultrasonic imaging system and method |
| CN108403146B (en) * | 2018-03-20 | 2020-06-30 | 余夏夏 | Three-dimensional ultrasonic imaging method and device based on multi-sensor information fusion |
| CN110575196B (en) * | 2018-06-11 | 2023-04-25 | 上海联影医疗科技股份有限公司 | Ultrasonic probe and puncture operation system |
| JP7321836B2 (en) * | 2019-08-26 | 2023-08-07 | キヤノン株式会社 | Information processing device, inspection system and information processing method |
| CN112617902A (en) * | 2020-12-31 | 2021-04-09 | 上海联影医疗科技股份有限公司 | Three-dimensional imaging system and imaging method |
| CN115998328A (en) * | 2022-11-11 | 2023-04-25 | 南京晓庄学院 | Three-dimensional B-type ultrasonic imaging method and device |
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| CN101569541A (en) * | 2008-04-29 | 2009-11-04 | 香港理工大学 | Three-dimensional ultrasonic imaging system |
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| JP5134932B2 (en) * | 2007-12-03 | 2013-01-30 | 株式会社東芝 | Ultrasonic diagnostic apparatus and control program for ultrasonic diagnostic apparatus |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101569541A (en) * | 2008-04-29 | 2009-11-04 | 香港理工大学 | Three-dimensional ultrasonic imaging system |
Non-Patent Citations (3)
| Title |
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| A. M. Goldsmith et al.An Inertial-Optical Tracking System for Portable,Quantitative,3D Ultrasound.《2008 IEEE International Ultrasonics Symposium Proceedings》.2008,摘要,第II部分第1段,第III部分第1-3段,第IV部分第1段、附图1,4. |
| An Inertial-Optical Tracking System for Portable,Quantitative,3D Ultrasound;A. M. Goldsmith et al;《2008 IEEE International Ultrasonics Symposium Proceedings》;20081231;摘要,第II部分第1段,第III部分第1-3段,第IV部分第1段、附图1,4 * |
| JP特开2008-68133A 2008.03.27 |
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