CN104983444A - Image-guided elasticity detection system and method - Google Patents
Image-guided elasticity detection system and method Download PDFInfo
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- CN104983444A CN104983444A CN201510422965.4A CN201510422965A CN104983444A CN 104983444 A CN104983444 A CN 104983444A CN 201510422965 A CN201510422965 A CN 201510422965A CN 104983444 A CN104983444 A CN 104983444A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
- A61B8/0825—Detecting organic movements or changes, e.g. tumours, cysts, swellings for diagnosis of the breast, e.g. mammography
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- A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
- A61B8/0833—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures
- A61B8/085—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures for locating body or organic structures, e.g. tumours, calculi, blood vessels, nodules
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/46—Ultrasonic, sonic or infrasonic diagnostic devices with special arrangements for interfacing with the operator or the patient
- A61B8/467—Ultrasonic, sonic or infrasonic diagnostic devices with special arrangements for interfacing with the operator or the patient characterised by special input means
- A61B8/469—Ultrasonic, sonic or infrasonic diagnostic devices with special arrangements for interfacing with the operator or the patient characterised by special input means for selection of a region of interest
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Abstract
The invention discloses an image-guided elasticity detection system and method. The image-guided elasticity detection system comprises a medical image detection device, an elasticity detection device and a position data matching device, wherein three detection probes and a first spatial positioning device for obtaining spatial position information of a position or a region to be detected are installed on the medical image detection device, the elasticity detection device comprises a mechanical arm and an elasticity detection probe installed on the mechanical arm, a second spatial positioning device for obtaining spatial position information of the elasticity detection probe is installed on the elasticity detection device, and the first spatial positioning device and the second spatial positioning device are in communicated connection with the position data matching device in a wired or wireless mode. The image-guided elasticity detection system is accurate in focus positioning, an elasticity detection position can be automatically adjusted as required, and a detection result is more reliable.
Description
Technical field
The present invention relates to technical field of medical instruments field, be specifically related to a kind of image-guided type elastomeric check system and detection method.
Background technology
The elasticity of biological tissue and the biological characteristics of focus are closely related, and the diagnostic procedure for disease has important reference value.But the traditional medicine image mode comprising x-ray imaging, ultra sonic imaging, nuclear magnetic resonance (MRI), computed tomography (CT) etc. all directly can not provide the information of the basic mechanical attribute of this tissue of elasticity.In recent years, elastogram (Elastography) technology obtains and develops rapidly, this technology can obtain the quantitative information of the elasticity distribution of organization internal, compensate for the deficiency of traditional medicine image mode, has very important clinical value and wide application prospect.
Elastography is a kind of technology of detection by quantitative tissue elasticity modulus.Its ultimate principle to organize applying inside (comprising self) or outside dynamic/static state/quasi-static excitation, under the effect of the physics law such as Elasticity, biomechanics, organize generation one response.Because the coefficient of elasticity (stress/strain) of different tissues (comprising normal and pathological tissue) is different, after being subject to external force pressure, its strain size is also different.The change of echo-signal mobile range before and after pressurized is converted into image, with the elasticity size of the color display organization directly perceived by image, thus location pathological changes.This technology can provide the quantitative value of tissue elasticity.
Tissue elasticity imaging effectively can differentiate the good pernicious of parenchyma, has higher specificity and sensitivity for malignant change diagnosis.Current research shows, and this technology has unique advantage in the quantitative and qualitative analysis diagnosis of deep venous thrombosis, benign breast lesions, Small Breast Mass character, carcinoma of prostate, malignant tumor, thyroid carcinoma and hepatic fibrosis etc.
Elastography is a kind of new imaging pattern, it reflects the elastic information of biological tissue.But this technology is a kind of useful supplement of traditional medicine image mode, simple application elastography is to the Differential Diagnosis of pathological tissue and traditional medicine imaging difference and not statistically significant.And, be used alone this technology and cannot know the organizational information detecting position, especially two-dimensional structure information is organized, thus cause when carrying out elastomeric check, if when inspection positions contains the factor of the influence elastane testing result accuracys such as trunk, cyst or ascites, metrical error will be produced; And, specifically detect position for one, if the direction that tester grasps probe is not right, also can cause metrical error; In addition, for the situation of elastomeric check results abnormity, because elastography cannot show internal structure information, whether in a organized way examiner also cannot assess inside structural lesions; Therefore simple elastography can not ensure accuracy and the reliability of testing result.
Summary of the invention
For solving the problem, the invention provides a kind of image-guided type elastomeric check system and detection method, lesions position accurate positioning, automatically can adjust the position of elastomeric check as required, testing result is more reliable.
For achieving the above object, the technical scheme that the present invention takes is:
Image-guided type elastomeric check system, comprise medical image checkout equipment, elastomeric check equipment, and position data coalignment, described medical image checkout equipment is provided with three detection probe and the first space positioning apparatus for the spatial positional information that obtains position to be detected or region, described elastomeric check equipment comprises mechanical arm, and the elastomeric check probe installed on the robotic arm, described elastomeric check equipment is provided with the second space positioner of the spatial positional information for obtaining described elastomeric check probe, described first space positioning apparatus is connected with the communication of described position data coalignment by wired or wireless mode with second space positioner, described position data coalignment comprises position data input module, GPS chip, RFID chip, electronic compass chip, GPS chip comprises central processing module, GPS input signal enters central processing module through noise suppression module and gain amplification module, GPS output signal exports through modulation module, RFID chip is connected with central processing module with electronic compass chip.
Preferably, also comprise data base, for storing the position data of each detection and detecting data;
Human-computer interaction module, for the data in artificial calling data storehouse, and shows testing result.
The detection method of above-mentioned image-guided type elastomeric check system, comprises the steps:
The surveyed area of S1, selected medical image checkout equipment, draws three detection probe, these three detection probe are placed in any three positions relative to monitor station equal altitudes, and these three positions is not on the same line from a medical image checkout equipment;
S2, in medical image checkout equipment, import this region internal organs layout, and input the position that described three detection probe settle relative to internal organs layout;
S3, the sound wave sent by three detection probe by described host analysis, its analytic process is as follows: the sound wave sent each detection probe, set up an oscillogram, according to the phase contrast of three oscillograms, obtain sound wave is sent to three detection probe time difference from focus, again according to the spread speed of sound wave in human body, calculate sound wave is sent to three detection probe range difference from focus;
The installation site of S4, one of them detection probe selected is as public focus, this public focus is combined with the installation site of two other detection probe respectively, form two groups of focuses, set up two pairs of Space Double curved surfaces, the bi-curved real axis in each pair of space is long to be equaled sound wave and delivers to this range difference to the focus of two corresponding to hyperboloid from imparts acoustic energy; Calculate one group of intersection point of each pair of Space Double curved surface and body system respectively;
S5, comparison two groups of intersection points, by the line center of minimum for space length two intersection points, send to position data coalignment as lesions position, and carry out labelling to this position;
S6, position data coalignment receive and process lesions position information, are exported by spatial positional information, and are sent to mechanical arm, thus make mechanical arm drive elastomeric check probe to move to corresponding position, carry out elastomeric check;
The result of S7, display elastomeric check, and in organizational information image the elastomeric check result of labelling elastomeric check position.
The present invention has following beneficial effect:
Lesions position accurate positioning, automatically the position of elastomeric check can be adjusted as required, simultaneously specifically detect position for one, system can to tester provide a suitable detection side to, in order to avoid tester grasp probe direction not to and the metrical error that causes; In addition, for the situation of elastomeric check results abnormity, whether in a organized way examiner also can assess inside structural lesions, makes testing result more reliable; The present invention can ensure accuracy and the reliability of testing result.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of a kind of image-guided type elastomeric check system of the embodiment of the present invention.
Fig. 2 is the structural representation of position data matching device in a kind of image-guided type elastomeric check system of the embodiment of the present invention.
Detailed description of the invention
In order to make objects and advantages of the present invention clearly understand, below in conjunction with embodiment, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
As shown in Figure 1-2, embodiments provide a kind of image-guided type elastomeric check system, comprise medical image checkout equipment 1, elastomeric check equipment 6, and position data coalignment 4, described medical image checkout equipment 1 is provided with three detection probe 2 and the first space positioning apparatus 3 for the spatial positional information that obtains position to be detected or region, described elastomeric check equipment 6 comprises mechanical arm 8, and the elastomeric check probe 7 be arranged on mechanical arm 8, described elastomeric check equipment 6 is provided with the second space positioner 5 of the spatial positional information for obtaining described elastomeric check probe, described first space positioning apparatus 3 is connected with the communication of described position data coalignment 4 by wired or wireless mode with second space positioner 5, described position data coalignment 4 comprises position data input module, GPS chip, RFID chip, electronic compass chip, GPS chip comprises central processing module 43, GPS input signal enters central processing module 43 through noise suppression module 41 and gain amplification module 42, GPS output signal exports through modulation module 46, RFID chip 44 is connected with central processing module 43 with electronic compass chip 45.
Preferably, also comprise data base, for storing the position data of each detection and detecting data;
Human-computer interaction module, for the data in artificial calling data storehouse, and shows testing result.
The detection method of above-mentioned image-guided type elastomeric check system, comprises the steps:
The surveyed area of S1, selected medical image checkout equipment, draws three detection probe, these three detection probe are placed in any three positions relative to monitor station equal altitudes, and these three positions is not on the same line from a medical image checkout equipment;
S2, in medical image checkout equipment, import this region internal organs layout, and input the position that described three detection probe settle relative to internal organs layout;
S3, the sound wave sent by three detection probe by described host analysis, its analytic process is as follows: the sound wave sent each detection probe, set up an oscillogram, according to the phase contrast of three oscillograms, obtain sound wave is sent to three detection probe time difference from focus, again according to the spread speed of sound wave in human body, calculate sound wave is sent to three detection probe range difference from focus;
The installation site of S4, one of them detection probe selected is as public focus, this public focus is combined with the installation site of two other detection probe respectively, form two groups of focuses, set up two pairs of Space Double curved surfaces, the bi-curved real axis in each pair of space is long to be equaled sound wave and delivers to this range difference to the focus of two corresponding to hyperboloid from imparts acoustic energy; Calculate one group of intersection point of each pair of Space Double curved surface and body system respectively;
S5, comparison two groups of intersection points, by the line center of minimum for space length two intersection points, send to position data coalignment as lesions position, and carry out labelling to this position;
S6, position data coalignment receive and process lesions position information, are exported by spatial positional information, and are sent to mechanical arm, thus make mechanical arm drive elastomeric check probe to move to corresponding position, carry out elastomeric check;
The result of S7, display elastomeric check, and in organizational information image the elastomeric check result of labelling elastomeric check position.
Lesions position accurate positioning, automatically the position of elastomeric check can be adjusted as required, simultaneously specifically detect position for one, system can to tester provide a suitable detection side to, in order to avoid tester grasp probe direction not to and the metrical error that causes; In addition, for the situation of elastomeric check results abnormity, whether in a organized way examiner also can assess inside structural lesions, makes testing result more reliable; The present invention can ensure accuracy and the reliability of testing result
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (4)
1. image-guided type elastomeric check system, comprise medical image checkout equipment, elastomeric check equipment, and position data coalignment, it is characterized in that, described medical image checkout equipment is provided with three detection probe and the first space positioning apparatus for the spatial positional information that obtains position to be detected or region, described elastomeric check equipment comprises mechanical arm, and the elastomeric check probe installed on the robotic arm, described elastomeric check equipment is provided with the second space positioner of the spatial positional information for obtaining described elastomeric check probe, described first space positioning apparatus is connected with the communication of described position data coalignment by wired or wireless mode with second space positioner, described position data coalignment comprises position data input module, GPS chip, RFID chip, electronic compass chip, GPS chip comprises central processing module, GPS input signal enters central processing module through noise suppression module and gain amplification module, GPS output signal exports through modulation module, RFID chip is connected with central processing module with electronic compass chip.
2. image-guided type elastomeric check system according to claim 1, is characterized in that, also comprise data base, for storing the position data of each detection and detecting data;
Human-computer interaction module, for the data in artificial calling data storehouse, and shows testing result.
3. the detection method of image-guided type elastomeric check system, is characterized in that, comprise the steps:
The surveyed area of S1, selected medical image checkout equipment, draws three detection probe, these three detection probe are placed in any three positions relative to monitor station equal altitudes, and these three positions is not on the same line from a medical image checkout equipment;
S2, in medical image checkout equipment, import this region internal organs layout, and input the position that described three detection probe settle relative to internal organs layout;
S3, the sound wave sent by three detection probe by described host analysis, its analytic process is as follows: the sound wave sent each detection probe, set up an oscillogram, according to the phase contrast of three oscillograms, obtain sound wave is sent to three detection probe time difference from focus, again according to the spread speed of sound wave in human body, calculate sound wave is sent to three detection probe range difference from focus;
The installation site of S4, one of them detection probe selected is as public focus, this public focus is combined with the installation site of two other detection probe respectively, form two groups of focuses, set up two pairs of Space Double curved surfaces, the bi-curved real axis in each pair of space is long to be equaled sound wave and delivers to this range difference to the focus of two corresponding to hyperboloid from imparts acoustic energy; Calculate one group of intersection point of each pair of Space Double curved surface and body system respectively;
S5, comparison two groups of intersection points, by the line center of minimum for space length two intersection points, send to position data coalignment as lesions position, and carry out labelling to this position;
S6, position data coalignment receive and process lesions position information, are exported by spatial positional information, and are sent to mechanical arm, thus make mechanical arm drive elastomeric check probe to move to corresponding position, carry out elastomeric check;
The result of S7, display elastomeric check, and in organizational information image the elastomeric check result of labelling elastomeric check position.
4. the detection method of image-guided type elastomeric check system according to claim 3, it is characterized in that, the corresponding position of described step S6 comprises lesions position and avoids the position of focus, can edit the central processing module of position data matching device on request.
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| WO2018176714A1 (en) * | 2017-03-25 | 2018-10-04 | 深圳市前海安测信息技术有限公司 | Breast cancer ultrasonic testing system and method |
| CN112991339A (en) * | 2021-04-27 | 2021-06-18 | 浙江杜比医疗科技有限公司 | Tumor grade analysis device and related assembly |
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