CN103690191A - Ultrasonic probe intelligent continuous scanner and scanning method thereof - Google Patents
Ultrasonic probe intelligent continuous scanner and scanning method thereof Download PDFInfo
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Abstract
The invention discloses an ultrasonic probe intelligent continuous scanner and a scanning method thereof. The ultrasonic probe intelligent continuous scanner comprises a computer and an ultrasonic probe connected with the computer, and also comprises a depth camera device and a three-dimensional motion control device which are connected with the computer; the ultrasonic probe is arranged on the three-dimensional motion control device used for controlling the ultrasonic probe to perform three-dimensional motion. A three-dimensional surface image is established according to the images shot by the depth camera device, and then the scanning tract of the ultrasonic probe is made, so the ultrasonic probe is always attached onto a scanned tissue with a uniform pressure in the scanning process, the defect that the tissue can not be scanned with the uniform pressure by a mechanical driving scanning mode in the prior art is overcome, and the safety of an inspected object is ensured. The ultrasonic probe intelligent continuous scanner and the scanning method thereof can be used in multiple fields of three-dimensional ultrasonic reestablishing, three-dimensional elastic imaging and the like, and have very large application value and prospect.
Description
Technical field
The invention belongs to medical ultrasonic scanning probe technical field, particularly a kind of ultrasonic probe intelligence continuous sweep device and scan method thereof.
Background technology
Medical ultrasonic probe is that various diasonograph is converted to ultrasonic mechanical energy to external radiation by high-frequency electrical energy, and receive ultrasonic echo and acoustic energy is converted to a kind of acoustical-electrical transducer part of electric energy, ultrasonic probe occupies very important position in all kinds of ultrasonic diagnostic equipments, and the mode of its scanning also directly affects the quality of imaging.
At present, the ultrasonic probe scan mode that is applied to tissue can be divided into two kinds: free arm scanning (Freehand) mode and based on Mechanical Driven scan mode.Free arm scan mode, allow operator's hand hold transducer to scan in mode comparatively flexibly, but the randomness due to operator, in scanning process, to very difficult assurances such as the application of force size of scanning tissue, scanning direction, scanning speeds, therefore follow-up ultrasonic signal imaging meeting is caused to very large impact.Based on mechanically operated scan mode, because drive probe to carry out mechanical scanning by means of mechanical arm, speed and direction in the time of can strict gated sweep, the drawback that can avoid to a certain extent free arm scanning to bring, but this scan mode, because cannot obtain the tissue surface depth information that is scanned in advance, therefore is still difficult to accomplish with uniform pressure, tissue is scanned.At the position of some responsive easy damaged of scanning, as human eye etc., mechanical arm scanning can exist potential dangers such as human body damage.
Summary of the invention
The shortcoming that the object of the invention is to overcome prior art, with not enough, provides a kind of to the uniform ultrasonic probe intelligence of scanning group active pressure continuous sweep device.
Another object of the present invention is to provide the scan method of above-mentioned ultrasonic probe intelligence continuous sweep device.
The first object of the present invention is achieved through the following technical solutions: a kind of ultrasonic probe intelligence continuous sweep device, comprise computer and the ultrasonic probe being connected with computer, and also comprise degree of depth camera head and three-dimensional motion control device; Described degree of depth camera head is all connected with computer with three-dimensional motion control device, and described ultrasonic probe is arranged on three-dimensional motion control device, carries out three-dimensional move by described three-dimensional motion control device control ultrasonic probe.
Preferably, described three-dimensional motion control device comprises three motors, motor driver and circuit for controlling motor plate, described three motors are connected with circuit for controlling motor plate by motor driver, described circuit for controlling motor plate is connected with computer, on described three motors, be respectively arranged with kinematic axis, the three-dimensional that described three kinematic axiss are respectively X, Y and Z axis is arranged, wherein X-direction represents left and right direction, Y direction represents front and rear direction, Z-direction represent upper and lower to; Described ultrasonic probe is arranged on the kinematic axis of Z direction; Described three motors are controlled ultrasonic probe by three kinematic axiss and are moved in X, Y and Z direction.
Preferably, described degree of depth camera head is installed on the top of scanning tissue, and its investigative range is 10cm～400cm.
The second object of the present invention is achieved through the following technical solutions: a kind of scan method of ultrasonic probe intelligence continuous sweep device, comprises the following steps:
(1) degree of depth camera head is taken the scene that ultrasonic probe will scan, and from scanning scene, is partitioned into the region of scanning tissue;
(2) the scanning group tissue region being partitioned into according to degree of depth camera head, constructs the three-dimension surface of scanning group tissue region, then sets up the three dimensions rectangular coordinate system of scanning field;
(3) according to the three-dimension surface building in step (2) and three-dimensional system of coordinate, formulate track while scan;
(4) control first scanning element that ultrasonic probe arrives track while scan;
(5) ultrasonic probe scans current residing point at scanning tissue; And whether the point that judges the current scanning of ultrasonic probe is last scanning element of track while scan;
If not, perform step (6);
If so, the ultrasonic probe end of scan;
(6) calculate the point of next scanning and the distance of the point of current scanning in X, Y and tri-directions of Z in track while scan, when ultrasonic probe completes the scanning of current point, by three-dimensional motion control device, control ultrasonic probe mobile respective distance simultaneously on X, Y and Z correspondence direction, arrive the next point that will scan, then get back to step (5).
Preferably, in described step (1), degree of depth camera head is taken depth image and the coloured image that ultrasonic probe will scan scene.
Preferably, in described step (1), by artificial dividing method or automatic division method, cut apart scanning and organize region.
Further, described artificial dividing method is demarcated scanning organizational boundary by cromogram, thereby be partitioned into scanning, organizes region; Described automatic division method utilization scanning tissue is different from around the characteristic information of scene and is partitioned into scanning to organize region, described characteristic information be the colour of skin or texture.
Preferably, the three dimensions rectangular coordinate system process of establishing of scanning field is as follows in described step (2): organize region central point or certain boundary point as zero O the scanning being partitioned into, using to scan and organize the length and width of region and depth direction respectively as coordinate axes X, Y and Z axis.
Preferably, in described step (3), also formulated following sweep parameter: the step distance of the scanning speed of ultrasonic probe, sweep limits and three-dimensional motion device.
Preferably, described ultrasonic probe remains direction straight down in scanning process.
The present invention has following advantage and effect with respect to prior art:
(1) first captured according to the degree of depth camera head picture construction three-dimension surface of ultrasonic probe intelligence continuous sweep device of the present invention, then formulate the track while scan of ultrasonic probe, computer is controlled the work of three-dimensional motion control device according to track while scan, then by three-dimensional motion control device, controlling ultrasonic probe moves at scanning tissue continuously according to track while scan, to complete scanning, make ultrasonic probe with uniform pressure, be attached to all the time scanning tissue in scanning process, having overcome Mechanical Driven scan mode in prior art is difficult to accomplish with uniform pressure to organizing the defect scanning, to guarantee the safety of inspected object.Can be used for the multiple fields such as three dimentional reconstruction, three dimensional elasticity imaging, there is very large using value and prospect.
(2) ultrasonic probe intelligence continuous sweep device of the present invention can make ultrasonic probe scan scanning tissue with uniform scanning speed by the scanning speed of computer control ultrasonic probe, guarantees that scanning obtains stability and the accuracy of data.
Accompanying drawing explanation
Fig. 1 is the composition frame chart of scanning means of the present invention.
Fig. 2 is the structural representation of each several part in scanning means of the present invention.
Fig. 3 is the flow chart of scan method of the present invention.
Fig. 4 is the three-dimension surface of the scanning group tissue region rebuild in scan method process of the present invention.
The specific embodiment
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited to this.
Embodiment
As shown in Figure 1, the present embodiment discloses a kind of ultrasonic probe intelligence continuous sweep device, comprises computer 1 and the ultrasonic probe 3 being all connected with computer 1, degree of depth camera head 2 and three-dimensional motion control device 4; Wherein ultrasonic probe 3 is arranged on three-dimensional motion control device 4, carries out three-dimensional move by three-dimensional motion control device 4 control ultrasonic probes 3.
In the present embodiment, three-dimensional motion control device 4 comprises three motors, motor driver and circuit for controlling motor plate, three motors are connected with circuit for controlling motor plate by motor driver, circuit for controlling motor plate is connected with computer, by three motors in computer control three-dimensional motion control device 4, work, on three motors, be respectively arranged with kinematic axis, the three-dimensional that three kinematic axiss are respectively X, Y and Z axis is arranged, wherein X-direction represents left and right direction, Y direction represents front and rear direction, Z-direction represent upper and lower to; Ultrasonic probe is arranged on the kinematic axis of Z direction; Three motors are controlled respectively three kinematic axis work.By the kinematic axis of three-dimensional motion control device, realize the movement of ultrasonic probe in these three directions, make ultrasonic probe to carry out three-dimensional at scanning tissue and move.Wherein in the present embodiment three-dimensional motion control device 4, the stepping accuracy of motor is micron order.
As shown in Figure 2, human body lies low on examinating couch, and degree of depth camera head 2 is installed on the top of human body, and its investigative range is 10cm～400cm.By degree of depth camera head, can obtain detected person surface each point to the distance of photographic head on camera head, the precision of this distance is Centimeter Level, grade or higher.The present embodiment takes by the degree of depth camera head depth map and the cromogram that ultrasonic probe will scan scene.Ultrasonic probe 3 comprises Ultrasonic-B probe and the super probe of A.
As shown in Figure 3, the present embodiment also discloses the scan method of above-mentioned ultrasonic probe intelligence continuous sweep device, wherein utilizes the step of this scan method scanning mammary gland tissue 5 as follows:
(1) degree of depth camera head is taken the scene that ultrasonic probe will scan, wherein degree of depth camera head is taken depth image and the coloured image that ultrasonic probe will scan scene, and by automatic division method, is partitioned into mammary gland tissue 5 regions from scanning scene; The automatic division method of the present embodiment utilizes mammary gland tissue 5 to be different from around the characteristic information of scene and is partitioned into scanning and organizes region, and wherein characteristic information is the colour of skin or texture.
(2) the mammary gland tissue region that computer is partitioned into according to degree of depth camera head, reconstruct the three-dimension surface in mammary gland tissue region as shown in Figure 4, wherein utilize in the present embodiment multiframe depth image to improve the resolution of rebuilding image, then set up the three dimensions rectangular coordinate system of scanning field as shown in Figure 4, using the mammary gland tissue region central point being partitioned into as zero O, length with mammary gland tissue region, wide and depth direction is respectively as coordinate axes X, Y and Z axis, in the present embodiment also can be using certain boundary point of mammary gland tissue region as zero O.
(3) computer is made track while scan 6 as shown in Figure 4 according to the three-dimension surface and the three-dimensional system of coordinate that build in step (2), and simultaneous computer has also been formulated the sweep parameters such as step distance of scanning speed, sweep limits and the three-dimensional motion device of ultrasonic probe.Its Computer is controlled three-dimensional motion device according to the track while scan of its formulation and is carried out work, and the motor in three-dimensional motion device, according to the step distance work setting, is controlled ultrasonic probe by kinematic axis and moved upward at X, Y and Z side.
(4) control first scanning element that ultrasonic probe arrives track while scan;
(5) ultrasonic probe is formulated according to step (3) at scanning tissue scanning speed and sweep limits scan current residing point; And whether the point that judges the current scanning of ultrasonic probe is last scanning element of track while scan;
If not, perform step (6);
If so, the ultrasonic probe end of scan.
(6) calculate the point of next scanning and the distance of the point of current scanning in X, Y and tri-directions of Z in track while scan, when ultrasonic probe completes the scanning of current point, computer is controlled three-dimensional motion device work according to track while scan, by three-dimensional motion control device, control ultrasonic probe mobile respective distance simultaneously on X, Y and Z correspondence direction, arrive the next point that will scan, then get back to step (5); Wherein ultrasonic probe remains direction straight down in scanning process.
In the step (1) of the above-mentioned scan method of the present embodiment, also can go out scanning by artificial automatic Segmentation and organize region; Wherein artificial dividing method is demarcated mammary gland tissue border by cromogram, thereby be partitioned into scanning, organizes region.The present embodiment Computer is controlled three-dimensional motion device work according to track while scan, so that ultrasonic probe is taken exercises according to track while scan.
Above-described embodiment is preferably embodiment of the present invention; but embodiments of the present invention are not restricted to the described embodiments; other any do not deviate from change, the modification done under spirit of the present invention and principle, substitutes, combination, simplify; all should be equivalent substitute mode, within being included in protection scope of the present invention.
Claims (10)
1. a ultrasonic probe intelligence continuous sweep device, comprises computer and the ultrasonic probe being connected with computer, it is characterized in that, also comprises degree of depth camera head and three-dimensional motion control device; Described degree of depth camera head is all connected with computer with three-dimensional motion control device, and described ultrasonic probe is arranged on three-dimensional motion control device, carries out three-dimensional move by described three-dimensional motion control device control ultrasonic probe.
2. ultrasonic probe according to claim 1 intelligence continuous sweep device, it is characterized in that, described three-dimensional motion control device comprises three motors, motor driver and circuit for controlling motor plate, described three motors are connected with circuit for controlling motor plate by motor driver, described circuit for controlling motor plate is connected with computer, on described three motors, be respectively arranged with kinematic axis, described three kinematic axiss are respectively X, the three-dimensional of Y and Z axis is arranged, wherein X-direction represents a left side, right, before Y direction represents, rear to, Z-direction represents, lower direction, described ultrasonic probe is arranged on the kinematic axis of Z direction, described three motors are controlled ultrasonic probe by three kinematic axiss and are moved in X, Y and Z direction.
3. ultrasonic probe intelligence continuous sweep device according to claim 1, is characterized in that, described degree of depth camera head is installed on the top of scanning tissue, and its investigative range is 10cm～400cm.
4. a scan method for the intelligence of the ultrasonic probe based on described in any one in the claims 1 to 3 continuous sweep device, is characterized in that, comprises the following steps:
(1) degree of depth camera head is taken the scene that ultrasonic probe will scan, and from scanning scene, is partitioned into the region of scanning tissue;
(2) the scanning group tissue region being partitioned into according to degree of depth camera head, constructs the three-dimension surface of scanning group tissue region, then sets up the three dimensions rectangular coordinate system of scanning field;
(3) according to the three-dimension surface building in step (2) and three-dimensional system of coordinate, formulate track while scan;
(4) control first scanning element that ultrasonic probe arrives track while scan;
(5) ultrasonic probe scans current residing point at scanning tissue; And whether the point that judges the current scanning of ultrasonic probe is last scanning element of track while scan;
If not, perform step (6);
If so, the ultrasonic probe end of scan;
(6) calculate the point of next scanning and the distance of the point of current scanning in X, Y and tri-directions of Z in track while scan, when ultrasonic probe completes the scanning of current point, by three-dimensional motion control device, control ultrasonic probe mobile respective distance simultaneously on X, Y and Z correspondence direction, arrive the next point that will scan, then get back to step (5).
5. the scan method of ultrasonic probe intelligence continuous sweep device according to claim 4, is characterized in that, in described step (1), degree of depth camera head is taken depth image and the coloured image that ultrasonic probe will scan scene.
6. the scan method of ultrasonic probe intelligence continuous sweep device according to claim 4, is characterized in that, cuts apart scanning organize region in described step (1) by artificial dividing method or automatic division method.
7. the scan method of ultrasonic probe intelligence continuous sweep device according to claim 6, is characterized in that, described artificial dividing method is demarcated scanning organizational boundary by cromogram, thereby be partitioned into scanning, organizes region; Described automatic division method utilization scanning tissue is different from around the characteristic information of scene and is partitioned into scanning to organize region, described characteristic information be the colour of skin or texture.
8. the scan method of ultrasonic probe according to claim 4 intelligence continuous sweep device, it is characterized in that, the three dimensions rectangular coordinate system process of establishing of scanning field is as follows in described step (2): organize region central point or certain boundary point as zero O the scanning being partitioned into, using to scan and organize the length and width of region and depth direction respectively as coordinate axes X, Y and Z axis.
9. the scan method of ultrasonic probe intelligence continuous sweep device according to claim 4, is characterized in that, has also formulated following sweep parameter: the step distance of the scanning speed of ultrasonic probe, sweep limits and three-dimensional motion device in described step (3).
10. the scan method of ultrasonic probe intelligence continuous sweep device according to claim 4, is characterized in that, described ultrasonic probe remains direction straight down in scanning process.
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| CN103969652A (en) * | 2014-05-19 | 2014-08-06 | 么彬 | Three-dimensional scanning acoustic imaging device |
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| CN106562805A (en) * | 2016-11-07 | 2017-04-19 | 深圳市罗伯医疗科技有限公司 | Method and apparatus for realizing automatic scanning of scanning equipment |
| CN107865671A (en) * | 2017-12-12 | 2018-04-03 | 成都优途科技有限公司 | Three-D ultrasonic scanning system and control method based on monocular vision positioning |
| CN109480906A (en) * | 2018-12-28 | 2019-03-19 | 无锡祥生医疗科技股份有限公司 | Ultrasonic transducer navigation system and supersonic imaging apparatus |
| CN110432931A (en) * | 2019-08-19 | 2019-11-12 | 深圳瀚维智能医疗科技有限公司 | Mammary gland scanning guiding device and mammary gland scanning guidance method |
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| CN110853023A (en) * | 2019-11-15 | 2020-02-28 | 浙江工业大学 | High-frequency ultrasonic scanning method and system for dental impression |
| WO2020103103A1 (en) * | 2018-11-22 | 2020-05-28 | 深圳迈瑞生物医疗电子股份有限公司 | Ultrasonic data processing method, ultrasonic device and storage medium |
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| CN111710207A (en) * | 2017-12-19 | 2020-09-25 | 无锡祥生医疗科技股份有限公司 | Ultrasonic demonstration device and system |
| CN112057110A (en) * | 2019-05-22 | 2020-12-11 | 深圳市德力凯医疗设备股份有限公司 | Imaging method of three-dimensional blood vessel ultrasonic image and navigation equipment in ultrasonic operation |
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| CN110664438B (en) * | 2019-10-22 | 2021-09-10 | 深圳瀚维智能医疗科技有限公司 | Ultrasonic scanning track planning method and device, storage medium and computer equipment |
| CN110853023A (en) * | 2019-11-15 | 2020-02-28 | 浙江工业大学 | High-frequency ultrasonic scanning method and system for dental impression |
| CN111436972A (en) * | 2020-04-13 | 2020-07-24 | 王时灿 | Three-dimensional ultrasonic gynecological disease diagnosis device |
| CN112862947A (en) * | 2020-12-22 | 2021-05-28 | 深圳市德力凯医疗设备股份有限公司 | Image scanning method and system based on three-dimensional ultrasonic probe |
| CN112862947B (en) * | 2020-12-22 | 2024-05-10 | 深圳市德力凯医疗设备股份有限公司 | Image scanning method and system based on three-dimensional ultrasonic probe |
| CN114027871A (en) * | 2021-03-08 | 2022-02-11 | 武汉联影医疗科技有限公司 | Ultrasonic inspection method and device and ultrasonic system |
| CN114027871B (en) * | 2021-03-08 | 2024-04-26 | 武汉联影医疗科技有限公司 | Ultrasonic inspection method, device and ultrasonic system |
| WO2023005790A1 (en) * | 2021-07-28 | 2023-02-02 | Zhejiang Huaray Technology Co., Ltd. | Methods, systems, and devices for motion control of at least one working head |
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