CN105769244A - Calibration device for calibrating ultrasonic probe - Google Patents
Calibration device for calibrating ultrasonic probe Download PDFInfo
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- CN105769244A CN105769244A CN201610165622.9A CN201610165622A CN105769244A CN 105769244 A CN105769244 A CN 105769244A CN 201610165622 A CN201610165622 A CN 201610165622A CN 105769244 A CN105769244 A CN 105769244A
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- ultrasonic
- optical alignment
- ultrasonic probe
- alignment frame
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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
- A61B8/42—Details of probe positioning or probe attachment to the patient
- A61B8/4245—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient
- A61B8/4254—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient using sensors mounted on the probe
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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
- A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
- A61B8/4444—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device related to the probe
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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
- A61B8/58—Testing, adjusting or calibrating the diagnostic device
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- Radiology & Medical Imaging (AREA)
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Abstract
The invention discloses a calibration device for calibrating an ultrasonic probe. The calibration device comprises an optical positioning tracking device, an ultrasonic device, an ultrasonic calibration block, a base, a first optical positioning reference frame, a second optical positioning reference frame and a computer with calibration system software, wherein the optical positioning tracking device is used for capturing position information of the first optical positioning reference frame and the second optical positioning reference frame simultaneously and transmitting the position information to the computer; the ultrasonic device is used for scanning the ultrasonic calibration block through the ultrasonic probe and generating an ultrasonic image; the optical positioning tracking device is mounted on a support and connected to the computer through a signal line; the ultrasonic device is connected to the computer through a signal line; the ultrasonic calibration block is made of organic glass, five planes are formed at the bottom of the ultrasonic calibration block, and five cylindrical holes are formed in the top of the ultrasonic calibration block.
Description
Technical field
The present invention relates to technical field of medical instruments, particularly relate to a kind of calibrating installation demarcated for ultrasonic probe.
Background technology
Medical supersonic image technology has the advantages such as easy to use, low price, realtime imaging and percutaneous noinvasive because of it and is widely used in various auxiliary treatment and auxiliary diagnosis.Traditional two-dimensional ultrasound image has some limitations, as human body cross-section image etc. can only be provided, three-dimensional ultrasound because of its can overcome corresponding defect and in use in recent years increasingly extensive.In the process obtaining three-dimensional ultrasound pattern, the demarcation of ultrasonic probe is very important step in freedom-arm, three-D ultrasonic image-forming system.
Freedom-arm, three-D ultrasonic technique is installation alignment sensor on ultrasonic probe, when mobile ultrasonic probe scanning human organ, this sensor is able to record that probe position in space and directional information, probe moves freely the three-dimensional ultrasound pattern being obtained objective body after gathering a series of two-dimensional ultrasonic images by three-dimensional reconstruction algorithm in space, finally adopts visual computer technology to display.But only have the locus of ultrasonic probe and directional information is not sufficient to determine every width ultrasonoscopy position in space, also need to the locus transforming relationship that ultrasonic probe is carried out demarcates to determine ultrasound image coordinates system and be fixed between the sensor coordinate system on ultrasonic probe, try to achieve transition matrix.In the application of the relevant medical domain such as surgical navigational, radiation treatment planning, it is necessary under sterile conditions ultrasonic probe is demarcated fast and accurately, therefore devise a kind of calibration block easy to use and complete to demarcate.
Therefore, those skilled in the art is devoted to a kind of calibrating installation demarcated for ultrasonic probe of exploitation.
Summary of the invention
Because the drawbacks described above of prior art, the technical problem to be solved is that ultrasonic probe is carried out accurate Fast Calibration, to determine ultrasound image coordinates system and the locus transforming relationship being fixed between the sensor coordinate system on ultrasonic probe, and can use in the gnotobasiss such as operating room, reduce the use difficulty of operator, and it is applicable in the medical domains such as surgical navigational, it is greatly increased the application of Ultrasonography.
For achieving the above object, the invention provides a kind of calibrating installation demarcated for ultrasonic probe, including optical alignment tracing equipment, ultrasonic device, ultrasonic demarcation calibration block, pedestal, the first optical alignment frame of reference, the second optical alignment frame of reference and the computer equipped with calibration system software；Wherein, optical alignment tracing equipment is for catching the positional information of the first optical alignment frame of reference and the second optical alignment frame of reference and being transferred in computer by positional information simultaneously；Ultrasonic device includes ultrasonic probe, by using ultrasonic probe to scan ultrasonic demarcation calibration block；
Optical alignment tracing equipment is rack-mount, and optical alignment tracing equipment is connected to computer by holding wire；Ultrasonic device is connected to computer by holding wire；
First optical alignment frame of reference is fixed on ultrasonic probe by being rigidly connected；
Second optical alignment frame of reference is fixed on pedestal by being rigidly connected；
Being fixed on the ultrasonic demarcation calibration block on pedestal adopts lucite to make, the bottom of ultrasonic demarcation calibration block has 5 planes, wherein the plane of 4 vertical direction is parallel to each other, the mid-plane of 1 horizontal direction intersects with 2 side planes of ultrasonic demarcation calibration block, and the top of ultrasonic demarcation calibration block is provided with 5 cylindrical holes.
Further, pedestal is made up of lucite, including first end and the second end, is provided with the groove for placing ultrasonic demarcation calibration block at first end, and the second end is provided with the circular hole for placing the second optical alignment frame of reference.
Further, the diameter of circular hole is 6-8mm, and the degree of depth of groove is 2-4mm.
Further, the first optical alignment frame of reference is provided with at least 3 witch balls, and the spacing between each witch ball is not less than 30mm, and the range difference that witch ball is between any two is not less than 5mm.
Further, the second optical alignment frame of reference is provided with at least 3 witch balls, and the spacing between each witch ball is not less than 30mm, and the range difference that witch ball is between any two is not less than 5mm.
Further, the first optical alignment frame of reference is fixed on ultrasonic probe by band.
Further, the second optical alignment frame of reference is threaded connection and is fixed on pedestal.
Further, calibration system software is set to adopt Object--oriented method to write, image processing algorithm is used to process ultrasonoscopy, and obtain spotting point, it is simultaneously connected with optical alignment tracing equipment and obtains the positional information of the first optical alignment frame of reference of identifying of optical alignment tracing equipment and the second optical alignment frame of reference and positional information is stored in computer.
Further, calibration system software is set to adopt optimized algorithm to process all data that computer acquisition is arrived, and draws calibration matrix.
Further, the cylinder bore diameter of ultrasonic demarcation calibration block is 4mm, and hole depth is 12-15mm.
In the better embodiment of the present invention, the invention provides a kind of calibrating installation demarcated for ultrasonic probe, including optical alignment tracing equipment, ultrasonic device, ultrasonic demarcation calibration block, pedestal, the first optical alignment frame of reference, the second optical alignment frame of reference and the computer equipped with calibration system software；Wherein, optical alignment tracing equipment is for catching the positional information of the first optical alignment frame of reference and the second optical alignment frame of reference and being transferred in computer by positional information simultaneously；Ultrasonic device includes ultrasonic probe, by using ultrasonic probe scan ultrasonic demarcation calibration block and generate ultrasonoscopy；
Optical alignment tracing equipment is rack-mount, and optical alignment tracing equipment is connected to computer by holding wire；Ultrasonic device is connected to computer through video frequency collection card by holding wire；
Being fixed on the ultrasonic demarcation calibration block on pedestal adopts lucite to make, the bottom of ultrasonic demarcation calibration block has 5 planes, wherein the plane of 4 vertical direction is parallel to each other, the mid-plane of 1 horizontal direction intersects with 2 side planes of ultrasonic demarcation calibration block, and the top of ultrasonic demarcation calibration block is provided with 5 cylindrical holes；The cylinder bore diameter of ultrasonic demarcation calibration block is set to 4mm, and hole depth is set to 12-15mm.
Pedestal is made up of lucite, and including first end and the second end, the first end at pedestal is provided with the groove for placing ultrasonic demarcation calibration block, and the second end is provided with the circular hole for placing the second optical alignment frame of reference；The diameter of circular hole is 6-8mm, and the degree of depth of groove is 2-4mm.First optical alignment frame of reference and the second optical alignment frame of reference both are set to have at least 3 witch balls, and the spacing between each witch ball is not less than 30mm, and the range difference that witch ball is between any two is not less than 5mm.
First optical alignment frame of reference is fixed on ultrasonic probe by band.Second optical alignment frame of reference is threaded connection and is fixed on pedestal.
Calibration system software is set to adopt Object--oriented method to write, image processing algorithm place reason ultrasonic device is used to use ultrasonic probe to scan ultrasonic demarcation calibration block the ultrasonoscopy exported, and obtain spotting point, it is simultaneously connected with optical alignment tracing equipment and obtains the positional information of the first optical alignment frame of reference of identifying of optical alignment tracing equipment and the second optical alignment frame of reference and positional information is stored in computer.Calibration system software is set to adopt optimized algorithm to process all data that computer acquisition is arrived, and draws calibration matrix.
Technique effect
1, a kind of calibrating installation simple in construction and easy to use demarcated for ultrasonic probe of the present invention, reduces operation easier；
2, utilize calibrating installation to complete the demarcation to ultrasonic probe, improve the preci-sion and accuracy demarcated；
3, a kind of calibrating installation demarcated for ultrasonic probe of the present invention can use after sterilizing when operating room gnotobasis, expand three-dimensional ultrasound use scope in clinic, can apply to the development of the association areas such as surgical navigational, improve the acceptance that three-D ultrasonic image technology is applied by medical personnel.
Below with reference to accompanying drawing, the technique effect of the design of the present invention, concrete structure and generation is described further, to be fully understood from the purpose of the present invention, feature and effect.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of calibrating installation demarcated for ultrasonic probe of a preferred embodiment of the present invention.
Fig. 2 is the structural representation of the ultrasonic demarcation calibration block of a kind of calibrating installation for ultrasonic probe demarcation of a preferred embodiment of the present invention.
Detailed description of the invention
As shown in Figure 1, one preferred embodiment of the present invention provides a kind of calibrating installation demarcated for ultrasonic probe, including optical alignment tracing equipment 11, ultrasonic device, ultrasonic demarcation calibration block 14, pedestal the 16, first optical alignment frame of reference the 12, second optical alignment frame of reference 15 and the computer 17 equipped with calibration system software；Wherein,
Ultrasonic device includes ultrasonic probe 13, by using ultrasonic probe scan ultrasonic demarcation calibration block 14 and generate ultrasonoscopy, and is input in computer 17 through video frequency collection card and holding wire, waits that calibration system software carries out subsequent treatment.Ultrasonic device is connected to computer by holding wire；Preferably, ultrasonic device turns USB data line by S terminal and is connected to computer.
Rack-mount for the positional information catching the first optical alignment frame of reference 12 and the second optical alignment frame of reference 15 the optical alignment tracing equipment 11 that positional information is transferred in computer 17 simultaneously, and optical alignment tracing equipment 11 is connected to computer 17 by holding wire；Preferably, the positional information that it is caught by optical alignment tracing equipment by USB data line is transferred in computer；It is highly preferred that optical alignment tracing equipment is high-speed camera.
First optical alignment frame of reference 12 is rigid structure support, is fixed on by being rigidly connected on ultrasonic probe 13；Preferably, the first optical alignment frame of reference 12 is fixed on ultrasonic probe 13 by band.First optical alignment frame of reference is provided with at least 3 witch balls, and the spacing between each witch ball is not less than 30mm, and the range difference that witch ball is between any two is not less than 5mm.
Second optical alignment frame of reference 15 is rigid structure support, is fixed on by being rigidly connected on pedestal 16；Preferably, the second optical alignment frame of reference 15 is rigid structure support, is threaded connection and is fixed on pedestal 16.Second optical alignment frame of reference is provided with at least 3 witch balls, and the spacing between each witch ball is not less than 30mm, and the range difference that witch ball is between any two is not less than 5mm.
The ultrasonic demarcation calibration block 14 being fixed on pedestal 16 adopts lucite to make, it is sized to 100mm × 37.5mm × 24mm, as shown in Figure 2, the bottom of ultrasonic demarcation calibration block 14 has 5 planes, wherein the plane of 4 vertical direction is parallel to each other, the mid-plane of 1 horizontal direction intersects with 2 side planes of ultrasonic demarcation calibration block, and the top of ultrasonic demarcation calibration block 14 is provided with 5 cylindrical holes, and the hole depth of 5 cylindrical holes is set to 12-15mm.As shown in Figure 2,5 cylindrical holes at ultrasonic demarcation calibration block 14 top in another preferred embodiment of the present invention are respectively labeled as 21,22,23,24,25, and wherein, the hole depth of cylindrical hole 21,23,25 is set to 13mm, the hole depth of cylindrical hole 22 is 12mm, and the hole depth of cylindrical hole 25 is 15mm.Before starting demarcation, the probe that optical alignment tracing equipment carries is utilized to complete the conversion between ultrasonic demarcation calibration block 14 coordinate system and the second optical alignment frame of reference 15 coordinate system, probe clicks cylindrical hole 21,22,23,24,25 successively to obtain they coordinates under the second optical alignment frame of reference 15 coordinate system, when designing ultrasonic demarcation calibration block 14, these 5 points of cylindrical hole 21,22,23,24,25 coordinate under theoretical coordinate system is known, then computer 17 realizes the Coordinate Conversion of these two groups of coordinate systems, to obtain corresponding transition matrix.
Pedestal is made up of lucite, and the first end at pedestal is provided with the groove for placing ultrasonic demarcation calibration block, and the second end is provided with the circular hole placing the second optical alignment frame of reference；The diameter of circular hole is 6-8mm, and the degree of depth of groove is 2-4mm；Preferably, the diameter of circular hole is 6mm, and the degree of depth of groove is 2mm.
Calibration system software is set to adopt Object--oriented method to write, image processing algorithm place reason ultrasonic device is used to use ultrasonic probe to scan ultrasonic demarcation calibration block the ultrasonoscopy exported, and obtain spotting point, it is simultaneously connected with optical alignment tracing equipment and obtains the positional information of the first optical alignment frame of reference of identifying of optical alignment tracing equipment and the second optical alignment frame of reference and positional information is stored in computer.Calibration system software, by collecting the positional information of abundant data and correspondence, then passes through optimized algorithm to solve calibration matrix, it is preferable that calibration system software obtains calibration matrix by enclosed derivation algorithm.
A kind of calibrating installation demarcated for ultrasonic probe of the present invention is compared traditional scaling method and is improve the precision of demarcation, accuracy, shorten the nominal time, it is achieved the quick and precisely demarcation to ultrasonic probe, simultaneously, facilitate the use of medical personnel, reduce operation easier.Additionally, owing to equipment is simple, it is adaptable to use after sterilization under the gnotobasiss such as operating room, expand three-dimensional ultrasound use in clinic, can apply in the association areas such as surgical navigational, improve the acceptance that three-D ultrasonic image technology is applied by medical personnel.
The preferred embodiment of the present invention described in detail above.Should be appreciated that those of ordinary skill in the art just can make many modifications and variations according to the design of the present invention without creative work.Therefore, all technical staff in the art, all should in the protection domain being defined in the patent claims under this invention's idea on the basis of existing technology by the available technical scheme of logical analysis, reasoning, or a limited experiment.
Claims (10)
1. the calibrating installation demarcated for ultrasonic probe, it is characterized in that, including optical alignment tracing equipment, ultrasonic device, ultrasonic demarcation calibration block, pedestal, the first optical alignment frame of reference, the second optical alignment frame of reference and the computer equipped with calibration system software；Wherein, described optical alignment tracing equipment is for catching the positional information of the first optical alignment frame of reference and the second optical alignment frame of reference and being transferred in computer by described positional information simultaneously；Described ultrasonic device includes ultrasonic probe, and described ultrasonic device is used for using described ultrasonic probe scan described ultrasonic demarcation calibration block and generate ultrasonoscopy；
Described optical alignment tracing equipment is rack-mount, and described optical alignment tracing equipment is connected to described computer by holding wire；Described ultrasonic device is connected to described computer by holding wire；
Described first optical alignment frame of reference is fixed on described ultrasonic probe by being rigidly connected；
Described second optical alignment frame of reference is fixed on described pedestal by being rigidly connected；
Being fixed on the described ultrasonic demarcation calibration block on described pedestal adopts lucite to make, the bottom of described ultrasonic demarcation calibration block has 5 planes, wherein the plane of 4 vertical direction is parallel to each other, the mid-plane of 1 horizontal direction intersects with 2 side planes of described ultrasonic demarcation calibration block, and the top of described ultrasonic demarcation calibration block is provided with 5 cylindrical holes.
2. as claimed in claim 1 a kind of for ultrasonic probe demarcate calibrating installation, it is characterized in that, described pedestal is made up of lucite, including first end and the second end, being provided with the groove for placing described ultrasonic demarcation calibration block at described first end, described the second end is provided with the circular hole for placing described second optical alignment frame of reference.
3. as claimed in claim 2 a kind of for ultrasonic probe demarcate calibrating installation, it is characterised in that the diameter of described circular hole is 6-8mm, and the degree of depth of described groove is 2-4mm.
4. as claimed in claim 1 a kind of for ultrasonic probe demarcate calibrating installation, it is characterized in that, described first optical alignment frame of reference is provided with at least 3 witch balls, and the spacing between each described witch ball is not less than 30mm, and the range difference that described witch ball is between any two is not less than 5mm.
5. as claimed in claim 1 a kind of for ultrasonic probe demarcate calibrating installation, it is characterized in that, described second optical alignment frame of reference is provided with at least 3 witch balls, and the spacing between each described witch ball is not less than 30mm, and the range difference that described witch ball is between any two is not less than 5mm.
6. as claimed in claim 1 a kind of for ultrasonic probe demarcate calibrating installation, it is characterised in that described first optical alignment frame of reference is fixed on described ultrasonic probe by band.
7. as claimed in claim 1 a kind of for ultrasonic probe demarcate calibrating installation, it is characterised in that described second optical alignment frame of reference is threaded connection and is fixed on described pedestal.
8. as claimed in claim 1 a kind of for ultrasonic probe demarcate calibrating installation, it is characterized in that, described calibration system software is set to adopt Object--oriented method to write, use ultrasonoscopy described in image processing algorithm place reason, and obtain spotting point, it is simultaneously connected with described optical alignment tracing equipment and obtains the positional information of the first optical alignment frame of reference of identifying of described optical alignment tracing equipment and the second optical alignment frame of reference and described positional information is stored in described computer.
9. a kind of calibrating installation demarcated for ultrasonic probe as claimed in claim 8, it is characterised in that described calibration system software is set to adopt optimized algorithm to process all data of arriving of described computer acquisition, and draws calibration matrix.
10. as claimed in claim 1 a kind of for ultrasonic probe demarcate calibrating installation, it is characterised in that the described cylinder bore diameter of described ultrasonic demarcation calibration block is 4mm, and hole depth is 12-15mm.
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Cited By (12)
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| CN107928805A (en) * | 2017-12-06 | 2018-04-20 | 上海波城医疗科技有限公司 | Ultrasonic scanning space positioning system and method |
| CN109171817A (en) * | 2018-09-05 | 2019-01-11 | 浙江深博医疗技术有限公司 | Three-dimensional breast ultrasound scan method and ultrasonic scanning system |
| CN109259793A (en) * | 2018-07-11 | 2019-01-25 | 浙江京新术派医疗科技有限公司 | Ultrasonic calibration system, method, electronic equipment and storage medium |
| CN110440708A (en) * | 2018-05-04 | 2019-11-12 | 苏州玻色智能科技有限公司 | A kind of standard component and its scaling method for three-dimensional white light scanning equipment |
| CN110554095A (en) * | 2019-08-16 | 2019-12-10 | 上海工程技术大学 | three-dimensional ultrasonic probe calibration device and method |
| CN110604573A (en) * | 2018-06-14 | 2019-12-24 | 韦伯斯特生物官能(以色列)有限公司 | Acoustic models and methods for intracardiac ultrasound positioning catheters |
| CN111189394A (en) * | 2020-04-09 | 2020-05-22 | 南京佗道医疗科技有限公司 | Device, system and method for verifying parameters of special-shaped workpiece |
| CN111789630A (en) * | 2019-04-08 | 2020-10-20 | 中慧医学成像有限公司 | Three-dimensional spatial information measuring device of ultrasonic probe |
| CN112472132A (en) * | 2020-12-18 | 2021-03-12 | 佟小龙 | Device and method for positioning imaging area and medical imaging device |
| CN113048878A (en) * | 2019-12-27 | 2021-06-29 | 苏州因确匹电子科技有限公司 | Optical positioning system and method and multi-view three-dimensional reconstruction system and method |
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| CN113048878A (en) * | 2019-12-27 | 2021-06-29 | 苏州因确匹电子科技有限公司 | Optical positioning system and method and multi-view three-dimensional reconstruction system and method |
| CN113048878B (en) * | 2019-12-27 | 2023-08-29 | 苏州因确匹电子科技有限公司 | Optical positioning system and method and multi-view three-dimensional reconstruction system and method |
| CN111189394A (en) * | 2020-04-09 | 2020-05-22 | 南京佗道医疗科技有限公司 | Device, system and method for verifying parameters of special-shaped workpiece |
| CN112472132A (en) * | 2020-12-18 | 2021-03-12 | 佟小龙 | Device and method for positioning imaging area and medical imaging device |
| CN116983007A (en) * | 2023-09-25 | 2023-11-03 | 中南大学 | External B-ultrasonic image positioning data acquisition and calibration device and application method |
| CN116983007B (en) * | 2023-09-25 | 2023-12-26 | 中南大学 | External B-ultrasonic image positioning data acquisition and calibration device and application method |
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