CN106510803A - Color Doppler ultrasound orthopedics department puncturing double-guide control system based on internet - Google Patents
Color Doppler ultrasound orthopedics department puncturing double-guide control system based on internet Download PDFInfo
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- CN106510803A CN106510803A CN201610994277.XA CN201610994277A CN106510803A CN 106510803 A CN106510803 A CN 106510803A CN 201610994277 A CN201610994277 A CN 201610994277A CN 106510803 A CN106510803 A CN 106510803A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3472—Trocars; Puncturing needles for bones, e.g. intraosseus injections
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T11/00—2D [Two Dimensional] image generation
- G06T11/003—Reconstruction from projections, e.g. tomography
- G06T11/005—Specific pre-processing for tomographic reconstruction, e.g. calibration, source positioning, rebinning, scatter correction, retrospective gating
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3413—Needle locating or guiding means guided by ultrasound
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10024—Color image
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10132—Ultrasound image
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30004—Biomedical image processing
- G06T2207/30008—Bone
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Abstract
The invention discloses a color Doppler ultrasound orthopedics department puncturing double-guide control system based on the internet. The color Doppler ultrasound orthopedics department puncturing double-guide control system is provided with a control box, a power module, an ultrasound module, a sound-light alarm module and an MCU. A groove is formed in the top of the control box. The input end of the MCU is electrically connected with the output end of a capacitive sensing detection module and the output end of the power module. The output end of the MCU is electrically connected with the input end of an indicator lamp, the input end of a liquid crystal display screen, the input end of an orthopedics department puncturing device, the input end of an ultrasound transmitting module, the input end of the sound-light alarm module and the input end of an external storage. The MCU is electrically connected with a RAM, an MRAM, a database, a data analysis and processing module and a wireless radio frequency receiving and transmitting module. The output end of the wireless radio frequency receiving and transmitting module is connected with the input end of a cloud storage through the internet. The wireless radio frequency receiving and transmitting module is connected with a control center through the internet. The internet technology is adopted in the system, the technical capacity of medical workers is improved, and using is convenient.
Description
Technical field
A kind of the invention belongs to technical field of medical equipment, more particularly to color ultrasound orthopaedics puncture dual boot based on the Internet
Control system.
Background technology
At present, in human body orthopedic, hyperosteogeny focus is found, needs to carry out minimal invasive operation, needed
Apparatus is penetrated in human body, is performed the operation under the Arthroscopic visual field.It is that the carrying out that human body cuts is opened mostly in prior art
Shape operation is put, its defect is big patient wound, operation trouble, can not meet preferable surgical effect.Present conditional hospital
It is general to adopt image or the single method of physics to guide puncture, i.e. ultrasonic guidance or arthroscope guiding.Ultrasonic guidance
Advantage is directly perceived, have the disadvantage precision 2mm or so it is high not enough, tissue and textured bone cannot be solved and superposition brings
Error, complex operation, cost are very high.
With the popularization and development of Internet technology, the Internet has been deep into the every aspect of our lives.The Internet+
It is also highly suitable for use in the development of field of medical device.The development of armarium be unable to do without the Internet, the development of the Internet equally from
Armarium is not opened, the relation between them is just as highway is as the relation of car.
In sum, existing color ultrasound orthopaedics punctures dual boot control system, not using Internet technology, it is impossible to improve
The technical capability of medical personnel, complex operation, it has not been convenient to use, operating error are big, and medical-risk is high, and intelligence degree is low.
The content of the invention
The present invention punctures dual boot control system for solving existing color ultrasound orthopaedics, not using Internet technology, it is impossible to
The technical capability of medical personnel is improved, complex operation, it has not been convenient to use, operating error are big, and medical-risk is high, and intelligence degree is low
Technical problem and a kind of color ultrasound orthopaedics based on the Internet is provided and punctures dual boot control system.
The present invention is adopted the technical scheme that by solving technical problem present in known technology：
A kind of color ultrasound orthopaedics based on the Internet punctures dual boot control system, including：
Ultrasonic module, is connected with MCU controllers；The ultrasonic signal is simultaneously processed by the ultrasonic signal for reception generation
After be transferred in MCU controllers, and orthopaedics sting device is sent to the command signal that MCU controllers send；
Orthopaedics sting device, is connected with MCU controllers；For performing the instruction that MCU controllers send, while receiving ultrasound
The signal that module sends, carries out orthopaedics puncturing operation；
RAM memory, with the mutual reverse connection of MCU controllers；For storing the command information of MCU controllers transmission；
Mram memory, with the mutual reverse connection of MCU controllers；For storing the command information of MCU controllers transmission；
Data base, with the mutual reverse connection of MCU controllers；For storing the command information of MCU controllers transmission；
Data Analysis Services unit, with the mutual reverse connection of MCU controllers；Go forward side by side for gathering the information in orthopaedics puncturing operation
Row is processed, while comparing to the command information that MCU controllers send；
Radio frequency transceiving module, with the mutual reverse connection of MCU controllers；For receiving the command information of MCU controllers transmission
And communication for information is carried out using the Internet and control centre；
Power module, is connected with MCU controllers；For providing power supply for MCU controllers；
MCU controllers, the detection parameter for extracting RAM memory, mram memory and data base storage are compared
With send command information after inquiry, be additionally operable to ultrasonic module transmission ultrasonic signal be controlled.
Further, the color ultrasound orthopaedics based on the Internet punctures dual boot control system also includes control chamber, acousto-optic report
Alert module；It is disposed with display lamp, LCDs and operation keyboard on the leading flank of the control chamber from top to bottom；It is described
Operation keyboard is made up of button and capacitive sensing detection module；
Speaker is installed with the left of the control chamber；Warning lamp is installed with the right side of the control chamber；Institute
State open up at the top of control chamber it is fluted；Orthopaedics sting device is installed in the groove；The orthopaedics sting device is by puncturing
Pin, puncture set, puncture base and ring for fixing are constituted；
The sound and light alarm module is made up of speaker and warning lamp；The input of the MCU controllers respectively with electric capacity
The outfan of inductive detection module and power module is electrically connected with；
The power module includes battery, power supply handover module and current conversion module；The ultrasonic module is sent out by ultrasound
Penetrate module and ultrasonic reception module composition；
The outfan of the MCU controllers respectively with display lamp, LCDs, orthopaedics sting device, ultrasound emission mould
The input of block, sound and light alarm module and external memory is electrically connected with；The input of the MCU controllers passes through signal processor
It is electrically connected with the outfan of ultrasonic reception module；
The outfan of the radio frequency transceiving module is connected with the input of high in the clouds memorizer by the Internet；The nothing
Line radio-frequency (RF) receiving and transmission module is also connected with control centre by the Internet；
USB interface is provided with the right side of the LCDs；Four corners of the control chamber bottom are mounted on propping up
Lower limb；The external screw thread of the puncture needle right-hand member is closely connected with the female thread for puncturing chassis left side；It is arranged with outside the puncture needle and wears
Thorn set；The external screw thread for puncturing set right-hand member is closely connected with the female thread of ring for fixing left end；It is described to puncture the outer of base left end
Screw thread is closely connected with the female thread of ring for fixing right-hand member.
Further, the Data Analysis Services unit includes：Infrared Detectorss, data acquisition unit, processor, non-negative image
Securing component, decomposer, LS-SVM sparseness device, reconstruction component；The Infrared Detectorss and data acquisition unit connection；The data
Harvester and processor, image acquisition components, non-negative image acquisition components, decomposer, LS-SVM sparseness device and rebuild component according to
Secondary connection；
The data acquisition unit, for obtaining the data for projection of Infrared Detectorss scanning collection；
The processor, for being iterated process to the data for projection that the data acquisition unit is gathered, to obtain target
Image；
The non-negative image acquisition components, for carrying out non-negative process to the target image, obtain the target image
Non- negative image；
The decomposer, for carrying out Nonlinear decomposition to the non-negative image, obtains main constituent image and time component-part diagram
Picture；
The LS-SVM sparseness device, for carrying out LS-SVM sparseness to the described first non-negative image and the second non-negative image,
Acquisition meets the optimization sparse solution of predetermined condition；
The reconstruction component, for obtaining the reconstruction image of Infrared Detectorss scanning to the optimization sparse solution.
Further, the processing method of the Data Analysis Services unit includes：
Obtain the data for projection of infrared-ray detector scanning；
Process is iterated according to the data for projection, to obtain image；
A specific region of a preview area defined in the image for obtaining；
An at least preview image is extracted using processor；
Judge the data for projection of infrared-ray detector scanning with the presence or absence of in the preview image using processor；
When the data for projection of the infrared-ray detector scanning is present in the preview image, determine that the infrared-ray is detected
Whether the data for projection of device scanning occurs in a specific region at least predetermined percentage；And when the infrared-ray detector is swept
When the data for projection retouched occurs in the predetermined percentage and occurs in the specific region, the processor carries out extraction image；And it is right
The image for extracting is identified；Obtain target image；
Non-negative process is carried out to target image, obtains the non-negative image of the target image；
Nonlinear decomposition is carried out to the non-negative image, obtains the first non-negative image and the second non-negative image；
LS-SVM sparseness is carried out to the described first non-negative image and the second non-negative image, and acquisition meets Image Iterative mould
The optimization sparse solution of type.
Further, to needing to carry out before the data for projection of acquisition infrared-ray detector scanning：
Fix the infrared-ray detector；
LS-SVM sparseness is carried out to the described first non-negative image and the second non-negative image, and acquisition meets object function
Also need to carry out after optimization sparse solution：
Infrared-ray detector scanning reconstruction image is obtained according to optimization sparse solution；
The step of process is iterated to obtain image according to the data for projection includes：
Obtain the Image Iterative model calculated according to the data for projection；The formula of the iterative model is expressed as：
Wherein, X is described image, and M is sytem matrix, and G is the data for projection, and i represents iterationses, and Xi represents i-th
The iteration result obtained after secondary iteration；λ represents convergence coefficient, and λ ∈ (0,1), MT represents the transposition to matrix M；
The initial value of described image is set；And the iterative model is utilized to the figure according to the iterationses for pre-setting
Each pixel as in is iterated renewal, obtains described image, the current grayvalue of the pixel in the iterative model
With the gray value Uniform approximat of previous iteration.
Further, it is described the step of non-negative is processed is carried out to the target image to include：By gray scale in the target image
Pixel zero setting of the value less than 0.
Described first non-negative image and the second non-negative image are included the step of carrying out LS-SVM sparseness：
Extracting from the described first non-negative image and the second non-negative image can be with partly overlapping multiple images block；Obtain
Take the corresponding sparse coefficient of the plurality of image block；Optimization is carried out to the described first non-negative image and the second non-negative image
Solve, be met the optimization sparse solution of Image Iterative model.
Further, the Ultrasonic Controlling Method of MCU controllers is controlled using pid control algorithm, and the PID control is calculated
Method includes：
The first step, pid control algorithm are made up of ratio, integration, three links of differential, and mathematical description is：
U (k)=Kpx(1)+Kdx(2)+Kix(3)
In formula, KpFor proportionality coefficient；KiFor integration time constant；KdFor derivative time constant；U (k) is to be calculated by PID
The ultrasound wave for obtaining afterwards increases or decreases value, corrected values of the x (1) for ratio；Corrected values of the x (2) for differential；X (3) is integration
Corrected value；
Second step, by the measured value of ultrasonic reception module input quantity and the error of the expected value of ultrasonic reception module and adopts
The sample time obtains x (1) in the first step, x (2), x (3), and computing formula is：
X (1)=error (k)；
X (2)=[error (k)-error_1]/ts；
X (3)=x (3)+error (k) * ts；
In formula, error (k) is the error calculated by measured value and expected value at the k moment；tsFor the sampling time；
3rd step, after upper two steps are programmed, value u (k) of output is ultrasound wave correction value, and records
Come.
The present invention has the advantages and positive effects that：Dual boot control system should be punctured based on the color ultrasound orthopaedics of the Internet
System, using Internet technology, improves the technical capability of medical personnel, convenient use, operating error is little, operation is simple,
Medical-risk is low, with very high practicality and generalization.
The present invention is by PID control without the need for being manually changed the stable ratio that can just reach by operator again；Essence
Degree is high, reduces the malpractice that ultrasonic wave error is likely to result in.
The present invention is clearly schemed by the Data Analysis Services unit of the compositions such as video image acquisition device, processor
Picture；The present invention obtains the non-negative image of target image, then non-negative image is carried out by carrying out non-negative process to target image
Nonlinear decomposition, obtains the first non-negative image and the second non-negative image, finally the first non-negative image and the second non-negative image is entered
Row LS-SVM sparseness, obtains optimization sparse solution, realizes image reconstruction according to the optimization sparse solution, reduce in calculating process
Image array dimension, improve the efficiency of image reconstruction, further ensure the needs of operation.
Description of the drawings
Fig. 1 is the signal that the color ultrasound orthopaedics based on the Internet provided in an embodiment of the present invention punctures dual boot control system
Figure；
Fig. 2 is the structural representation of control chamber provided in an embodiment of the present invention；
Fig. 3 is the top view of control chamber provided in an embodiment of the present invention.
Fig. 4 is ultrasonic module connection diagram provided in an embodiment of the present invention.
Fig. 5 is Data Analysis Services cell schematics provided in an embodiment of the present invention.
In figure：1st, control chamber；2nd, display lamp；3rd, LCDs；4th, operation keyboard；5th, button；6th, capacitive sensing detection
Module；7th, USB interface；8th, supporting leg；9th, speaker；10th, warning lamp；11st, groove；12nd, orthopaedics sting device；13rd, puncture needle；
14th, puncture set；15th, puncture base；16th, ring for fixing；17th, power module；18th, battery；19th, power supply handover module；20th, electric current turns
Mold changing block；21st, ultrasonic module；22nd, ultrasound emission module；23rd, ultrasonic reception module；24th, sound and light alarm module；25th, MCU controls
Device；26th, external memory；27th, signal processor；28th, RAM memory；29th, mram memory；30th, data base；31st, data analysiss
Processing unit；31-1, Infrared Detectorss；31-2, data acquisition unit；31-3, processor；31-4, non-negative image acquisition components；
31-5, decomposer；31-6, LS-SVM sparseness device；31-7, reconstruction component；32nd, radio frequency transceiving module；33rd, the Internet；34、
High in the clouds memorizer；35th, control centre.
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that specific embodiment described herein is not used to only to explain the present invention
Limit the present invention.
Below in conjunction with the accompanying drawings the application principle of the present invention is described in detail.
As shown in Figures 1 to 5, the color ultrasound orthopaedics based on the Internet provided in an embodiment of the present invention punctures dual boot control system
System, including：
Ultrasonic module 21, is connected with MCU controllers；For receive produce ultrasonic signal and by the ultrasonic signal
It is transferred to after reason in MCU controllers, and orthopaedics sting device is sent to the command signal that MCU controllers send；
Orthopaedics sting device 12, is connected with MCU controllers；For performing the instruction that MCU controllers send, while receiving super
The signal that sound module sends, carries out orthopaedics puncturing operation；
RAM memory 28, with the mutual reverse connection of MCU controllers；For storing the command information of MCU controllers transmission；
Mram memory 29, with the mutual reverse connection of MCU controllers；For storing the command information of MCU controllers transmission；
Data base 30, with the mutual reverse connection of MCU controllers；For storing the command information of MCU controllers transmission；
Data Analysis Services unit 31, with the mutual reverse connection of MCU controllers；For gathering the information in orthopaedics puncturing operation simultaneously
Processed, while comparing to the command information that MCU controllers send；
Radio frequency transceiving module 32, with the mutual reverse connection of MCU controllers；For receiving the instruction letter of MCU controllers transmission
Breath simultaneously carries out communication for information using the Internet 33 and control centre 35；
Power module 17, is connected with MCU controllers；For providing power supply for MCU controllers；
MCU controllers 25, the detection parameter for extracting RAM memory, mram memory and data base storage are compared
To with inquiry after send command information, be additionally operable to ultrasonic module transmission ultrasonic signal be controlled.
Dual boot control system should be punctured based on the color ultrasound orthopaedics of the Internet and be additionally provided with control chamber 1, sound and light alarm module
24；It is disposed with display lamp 2, LCDs 3 and operation keyboard 4 on the leading flank of the control chamber from top to bottom；It is described
Operation keyboard is made up of button 5 and capacitive sensing detection module 6；Speaker 9 is installed with the left of the control chamber；It is described
Warning lamp 10 is installed with the right side of control chamber；Fluted 11 are opened up at the top of the control chamber；It is provided with the groove
Orthopaedics sting device 12；
The orthopaedics sting device is made up of puncture needle 13, puncture set 14, puncture base 15 and ring for fixing 16；The power supply
Module includes battery 18, power supply handover module 19 and current conversion module 20；The ultrasonic module 21 is by ultrasound emission module 22
Constitute with ultrasonic reception module 23；The sound and light alarm module 24 is made up of speaker 9 and warning lamp 10；The MCU controllers
25 input is electrically connected with the outfan of capacitive sensing detection module 6 and power module 17 respectively；
The outfan of the MCU controllers 25 respectively with display lamp 10, LCDs 3, orthopaedics sting device 12, ultrasound
The input of transmitter module 22, sound and light alarm module 24 and external memory 26 is electrically connected with；The input of the MCU controllers leads to
The outfan that signal processor is crossed with ultrasonic reception module is electrically connected with；The MCU controllers respectively with RAM memory 28,
Mram memory 29, data base 30, Data Analysis Services unit 31 and radio frequency transceiving module 32 are electrically connected with；
The outfan of the radio frequency transceiving module is connected with the input of high in the clouds memorizer 34 by the Internet 33；Institute
State radio frequency transceiving module to be connected with control centre 35 by the Internet.
Further, USB interface 7 is provided with the right side of the LCDs.
Four corners of the control chamber bottom are mounted on supporting leg 8.
The external screw thread of the puncture needle right-hand member is closely connected with the female thread for puncturing chassis left side.
Puncture set 14 is arranged with outside the puncture needle 13.
The external screw thread for puncturing set right-hand member is closely connected with the female thread of ring for fixing left end.
The external screw thread for puncturing base left end is closely connected with the female thread of ring for fixing right-hand member.
Further, the Data Analysis Services unit includes：Infrared Detectorss 31-1, data acquisition unit 31-2, processor
31-3, non-negative image acquisition components 31-4, decomposer 31-5, LS-SVM sparseness device 31-6, reconstruction component 31-7；The infrared spy
Survey device and data acquisition unit connection；The data acquisition unit and processor, image acquisition components, non-negative image acquisition components, point
Solution device, LS-SVM sparseness device and reconstruction component are sequentially connected；
The data acquisition unit, for obtaining the data for projection of Infrared Detectorss scanning collection；
The processor, for being iterated process to the data for projection that the data acquisition unit is gathered, to obtain target
Image；
The non-negative image acquisition components, for carrying out non-negative process to the target image, obtain the target image
Non- negative image；
The decomposer, for carrying out Nonlinear decomposition to the non-negative image, obtains main constituent image and time component-part diagram
Picture；
The LS-SVM sparseness device, for carrying out LS-SVM sparseness to the described first non-negative image and the second non-negative image,
Acquisition meets the optimization sparse solution of predetermined condition；
The reconstruction component, for obtaining the reconstruction image of Infrared Detectorss scanning to the optimization sparse solution.
Further, the processing method of the Data Analysis Services unit includes：
Obtain the data for projection of infrared-ray detector scanning；
Process is iterated according to the data for projection, to obtain image；
A specific region of a preview area defined in the image for obtaining；
An at least preview image is extracted using processor；
Judge the data for projection of infrared-ray detector scanning with the presence or absence of in the preview image using processor；
When the data for projection of the infrared-ray detector scanning is present in the preview image, determine that the infrared-ray is detected
Whether the data for projection of device scanning occurs in a specific region at least predetermined percentage；And when the infrared-ray detector is swept
When the data for projection retouched occurs in the predetermined percentage and occurs in the specific region, the processor carries out extraction image；And it is right
The image for extracting is identified；Obtain target image；
Non-negative process is carried out to target image, obtains the non-negative image of the target image；
Nonlinear decomposition is carried out to the non-negative image, obtains the first non-negative image and the second non-negative image；
LS-SVM sparseness is carried out to the described first non-negative image and the second non-negative image, and acquisition meets Image Iterative mould
The optimization sparse solution of type.
Further, to needing to carry out before the data for projection of acquisition infrared-ray detector scanning：
Fix the infrared-ray detector；
LS-SVM sparseness is carried out to the described first non-negative image and the second non-negative image, and acquisition meets object function
Also need to carry out after optimization sparse solution：
Infrared-ray detector scanning reconstruction image is obtained according to optimization sparse solution；
The step of process is iterated to obtain image according to the data for projection includes：
Obtain the Image Iterative model calculated according to the data for projection；The formula of the iterative model is expressed as：
Wherein, X is described image, and M is sytem matrix, and G is the data for projection, and i represents iterationses, and Xi represents i-th
The iteration result obtained after secondary iteration；λ represents convergence coefficient, and λ ∈ (0,1), MT represents the transposition to matrix M；
The initial value of described image is set；And the iterative model is utilized to the figure according to the iterationses for pre-setting
Each pixel as in is iterated renewal, obtains described image, the current grayvalue of the pixel in the iterative model
With the gray value Uniform approximat of previous iteration.
Further, it is described the step of non-negative is processed is carried out to the target image to include：By gray scale in the target image
Pixel zero setting of the value less than 0.
Described first non-negative image and the second non-negative image are included the step of carrying out LS-SVM sparseness：
Extracting from the described first non-negative image and the second non-negative image can be with partly overlapping multiple images block；Obtain
Take the corresponding sparse coefficient of the plurality of image block；Optimization is carried out to the described first non-negative image and the second non-negative image
Solve, be met the optimization sparse solution of Image Iterative model.
Further, the Ultrasonic Controlling Method of MCU controllers is controlled using pid control algorithm, and the PID control is calculated
Method includes：
The first step, pid control algorithm are made up of ratio, integration, three links of differential, and mathematical description is：
U (k)=Kpx(1)+Kdx(2)+Kix(3)
In formula, KpFor proportionality coefficient；KiFor integration time constant；KdFor derivative time constant；U (k) is to be calculated by PID
The ultrasound wave for obtaining afterwards increases or decreases value, corrected values of the x (1) for ratio；Corrected values of the x (2) for differential；X (3) is integration
Corrected value；
Second step, by the measured value of ultrasonic reception module input quantity and the error of the expected value of ultrasonic reception module and adopts
The sample time obtains x (1) in the first step, x (2), x (3), and computing formula is：
X (1)=error (k)；
X (2)=[error (k)-error_1]/ts；
X (3)=x (3)+error (k) * ts；
In formula, error (k) is the error calculated by measured value and expected value at the k moment；tsFor the sampling time；
3rd step, after upper two steps are programmed, value u (k) of output is ultrasound wave correction value, and records
Come.
The application principle of the present invention is further described with reference to operation principle.
The color ultrasound orthopaedics based on the Internet that the present invention is provided punctures dual boot control system, by ultrasonic module in it is super
Acoustic emission module and the effect of ultrasonic reception module cooperative, collection information pass through the Internet after Data Analysis Services resume module
Realize sharing, compare, sample, store and inquire about to detecting parameter using RAM memory, mram memory and data base,
And realized using radio frequency transceiving module and the Internet and the exchange between control centre.The present invention need not by PID control
The stable ratio that can just reach is manually changed by operator again；High precision, reduces what ultrasonic wave error was likely to result in
Malpractice.
The present invention is clearly schemed by the Data Analysis Services unit of the compositions such as video image acquisition device, processor
Picture；The present invention obtains the non-negative image of target image, then non-negative image is carried out by carrying out non-negative process to target image
Nonlinear decomposition, obtains the first non-negative image and the second non-negative image, finally the first non-negative image and the second non-negative image is entered
Row LS-SVM sparseness, obtains optimization sparse solution, realizes image reconstruction according to the optimization sparse solution, reduce in calculating process
Image array dimension, improve the efficiency of image reconstruction, further ensure the needs of operation.
Presently preferred embodiments of the present invention is the foregoing is only, not to limit the present invention, all essences in the present invention
Any modification, equivalent and improvement made within god and principle etc., should be included within the scope of the present invention.
Claims (7)
1. a kind of color ultrasound orthopaedics based on the Internet punctures dual boot control system, it is characterised in that be somebody's turn to do the coloured silk based on the Internet
Super orthopaedics punctures dual boot control system to be included：
Ultrasonic module, is connected with MCU controllers；For receiving the ultrasonic signal of generation and will pass after ultrasonic signal process
In the defeated controller to MCU, and orthopaedics sting device is sent to the command signal that MCU controllers send；
Orthopaedics sting device, is connected with MCU controllers；For performing the instruction that MCU controllers send, while receiving ultrasonic module
The signal of transmission, carries out orthopaedics puncturing operation；
RAM memory, with the mutual reverse connection of MCU controllers；For storing the command information of MCU controllers transmission；
Mram memory, with the mutual reverse connection of MCU controllers；For storing the command information of MCU controllers transmission；
Data base, with the mutual reverse connection of MCU controllers；For storing the command information of MCU controllers transmission；
Data Analysis Services unit, with the mutual reverse connection of MCU controllers；For the information that gathers in orthopaedics puncturing operation and located
Reason, while compare to the command information that MCU controllers send；
Radio frequency transceiving module, with the mutual reverse connection of MCU controllers；For receiving command information the profit of the transmission of MCU controllers
Communication for information is carried out with the Internet and control centre；
Power module, is connected with MCU controllers；For providing power supply for MCU controllers；
MCU controllers, the detection parameter for extracting RAM memory, mram memory and data base storage are compared and are looked into
Command information is sent after inquiry, is additionally operable to be controlled the ultrasonic signal of ultrasonic module transmission.
2. the color ultrasound orthopaedics based on the Internet as claimed in claim 1 punctures dual boot control system, it is characterised in that described
Color ultrasound orthopaedics based on the Internet punctures dual boot control system also includes control chamber, sound and light alarm module；The control chamber
It is disposed with display lamp, LCDs and operation keyboard on leading flank from top to bottom；The operation keyboard is by button and electricity
Hold inductive detection module to constitute；
Speaker is installed with the left of the control chamber；Warning lamp is installed with the right side of the control chamber；The control
Open up fluted at the top of case processed；Orthopaedics sting device is installed in the groove；The orthopaedics sting device by puncture needle, wear
Thorn set, puncture base and ring for fixing are constituted；
The sound and light alarm module is made up of speaker and warning lamp；The input of the MCU controllers respectively with capacitive sensing
The outfan of detection module and power module is electrically connected with；
The power module includes battery, power supply handover module and current conversion module；The ultrasonic module is by ultrasound emission mould
Block and ultrasonic reception module composition；
The outfan of the MCU controllers respectively with display lamp, LCDs, orthopaedics sting device, ultrasound emission module, sound
The input of light alarm module and external memory is electrically connected with；The input of the MCU controllers passes through signal processor and surpasses
The outfan of sound reception module is electrically connected with；
The outfan of the radio frequency transceiving module is connected with the input of high in the clouds memorizer by the Internet；It is described wirelessly to penetrate
Frequency transceiver module is also connected with control centre by the Internet；
USB interface is provided with the right side of the LCDs；Four corners of the control chamber bottom are mounted on supporting leg；Institute
The external screw thread for stating puncture needle right-hand member is closely connected with the female thread for puncturing chassis left side；Puncture set is arranged with outside the puncture needle；
The external screw thread for puncturing set right-hand member is closely connected with the female thread of ring for fixing left end；It is described puncture base left end external screw thread with
The female thread of ring for fixing right-hand member closely connects.
3. the color ultrasound orthopaedics based on the Internet as claimed in claim 1 punctures dual boot control system, it is characterised in that described
Data Analysis Services unit includes：It is Infrared Detectorss, data acquisition unit, processor, non-negative image acquisition components, decomposer, dilute
Thinization processor, reconstruction component；The Infrared Detectorss and data acquisition unit connection；The data acquisition unit and processor, figure
As securing component, non-negative image acquisition components, decomposer, LS-SVM sparseness device and reconstruction component are sequentially connected；
The data acquisition unit, for obtaining the data for projection of Infrared Detectorss scanning collection；
The processor, for being iterated process to the data for projection that the data acquisition unit is gathered, to obtain target image；
The non-negative image acquisition components, for carrying out non-negative process to the target image, obtain the non-of the target image
Negative image；
The decomposer, for carrying out Nonlinear decomposition to the non-negative image, obtains main constituent image and time component-part diagram picture；
The LS-SVM sparseness device, for carrying out LS-SVM sparseness to the described first non-negative image and the second non-negative image, obtains
Meet the optimization sparse solution of predetermined condition；
The reconstruction component, for obtaining the reconstruction image of Infrared Detectorss scanning to the optimization sparse solution.
4. the color ultrasound orthopaedics based on the Internet as claimed in claim 1 punctures dual boot control system, it is characterised in that the number
Include according to the processing method of analysis and processing unit：
Obtain the data for projection of infrared-ray detector scanning；
Process is iterated according to the data for projection, to obtain image；
A specific region of a preview area defined in the image for obtaining；
An at least preview image is extracted using processor；
Judge the data for projection of infrared-ray detector scanning with the presence or absence of in the preview image using processor；
When the data for projection of the infrared-ray detector scanning is present in the preview image, determine that the infrared-ray detector is swept
Whether the data for projection retouched occurs in a specific region at least predetermined percentage；And when the infrared-ray detector scanning
When data for projection occurs in the predetermined percentage and occurs in the specific region, the processor carries out extraction image；And to extracting
Image out is identified；Obtain target image；
Non-negative process is carried out to target image, obtains the non-negative image of the target image；
Nonlinear decomposition is carried out to the non-negative image, obtains the first non-negative image and the second non-negative image；
LS-SVM sparseness is carried out to the described first non-negative image and the second non-negative image, and acquisition meets Image Iterative model
Optimization sparse solution.
5. the color ultrasound orthopaedics based on the Internet as claimed in claim 4 punctures dual boot control system, it is characterised in that to obtaining
Need to carry out before the data for projection for taking infrared-ray detector scanning：
Fix the infrared-ray detector；
LS-SVM sparseness is carried out to the described first non-negative image and the second non-negative image, and acquisition meets the optimum of object function
Also need to carry out after changing sparse solution：
Infrared-ray detector scanning reconstruction image is obtained according to optimization sparse solution；
The step of process is iterated to obtain image according to the data for projection includes：
Obtain the Image Iterative model calculated according to the data for projection；The formula of the iterative model is expressed as：
Wherein, X is described image, and M is sytem matrix, and G is the data for projection, and i represents iterationses, and Xi represents that i ＆ lt changes
The iteration result obtained after generation；λ represents convergence coefficient, and λ ∈ (0,1), MT represents the transposition to matrix M；
The initial value of described image is set；And the iterative model is utilized in described image according to the iterationses for pre-setting
Each pixel be iterated renewal, obtain described image, the current grayvalue of the pixel in the iterative model with it is front
The gray value Uniform approximat of secondary iteration.
6. the color ultrasound orthopaedics based on the Internet as claimed in claim 4 punctures dual boot control system, it is characterised in that described
The step of non-negative is processed is carried out to the target image includes：By pixel zero setting of the gray value in the target image less than 0.
Described first non-negative image and the second non-negative image are included the step of carrying out LS-SVM sparseness：
Extracting from the described first non-negative image and the second non-negative image can be with partly overlapping multiple images block；Obtain institute
State the corresponding sparse coefficient of multiple images block；Described first non-negative image and the second non-negative image are carried out by optimization and asked
Solution, is met the optimization sparse solution of Image Iterative model.
7. color ultrasound orthopaedics as claimed in claim 1 based on the Internet punctures dual boot control, it is characterised in that MCU controllers
Ultrasonic Controlling Method be controlled using pid control algorithm, the pid control algorithm includes：
The first step, pid control algorithm are made up of ratio, integration, three links of differential, and mathematical description is：
U (k)=Kpx(1)+Kdx(2)+Kix(3)
In formula, KpFor proportionality coefficient；KiFor integration time constant；KdFor derivative time constant；U (k) is to obtain after PID is calculated
To ultrasound wave increase or decrease value, corrected values of the x (1) for ratio；Corrected values of the x (2) for differential；X (3) is the correction of integration
Value；
Second step, by when error and the sampling of the measured value of ultrasonic reception module input quantity and the expected value of ultrasonic reception module
Between obtain x (1) in the first step, x (2), x (3), computing formula is：
X (1)=error (k)；
X (2)=[error (k)-error_1]/ts；
X (3)=x (3)+error (k) * ts；
In formula, error (k) is the error calculated by measured value and expected value at the k moment；tsFor the sampling time；
3rd step, after upper two steps are programmed, value u (k) of output is ultrasound wave correction value, and records.
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Application publication date: 20170322 |