CN106691507B - Scanning control method, device and system for 4D ultrasonic probe - Google Patents
Scanning control method, device and system for 4D ultrasonic probe Download PDFInfo
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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
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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
- A61B8/46—Ultrasonic, sonic or infrasonic diagnostic devices with special arrangements for interfacing with the operator or the patient
- A61B8/461—Displaying means of special interest
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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
- A61B8/48—Diagnostic techniques
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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
- A61B8/52—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/5207—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of raw data to produce diagnostic data, e.g. for generating an image
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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
- A61B8/54—Control of the diagnostic device
Abstract
The invention discloses a method, a device and a system for controlling scanning of a 4D ultrasonic probe. The method comprises the following steps: receiving a probe scanning parameter issued by an upper control program; and respectively controlling a motor driving module to drive the sound head to move and a head control module to scan images alternately according to the probe scanning parameters. In the method, when the sound head scans images, the motor driving module does not generate pulse signals, so that the interference of the pulse signals generated by the motor driving module and high-frequency harmonics generated by the pulse signals on ultrasonic echo signals being received by the sound head is avoided. And the method can ensure that all scanning lines emitted by the sound head are on the same plane, can reduce the deviation between the actually received signal position and the expected received signal position, and is beneficial to improving the quality of a two-dimensional image so as to improve the quality of a three-dimensional image. The method also improves the phenomenon of three-dimensional image shake during real-time display.
Description
Technical Field
The invention relates to the technical field of ultrasonic scanning, in particular to a scanning control method, a scanning control device and a scanning control system for a 4D ultrasonic probe.
Background
The traditional medical imaging equipment can only provide two-dimensional images of the inside of a human body, and doctors can only estimate the size and the shape of a focus from a plurality of two-dimensional images by experience so as to imagine the three-dimensional geometrical relationship between the focus and surrounding tissues, which brings difficulty to treatment. The three-dimensional visualization technology can reconstruct a three-dimensional body from a series of two-dimensional images and display the three-dimensional body on a display. Therefore, not only can the overall concept of intuition and image of the imaging object be obtained, but also a lot of important three-dimensional information can be stored. Ultrasonic imaging has the obvious advantages of no wound, no ionizing radiation, flexible operation and the like, so that the ultrasonic three-dimensional imaging is widely applied to medical clinic.
The four-dimensional imaging technology is formed by adding time characteristics to three-dimensional (3D) imaging technology, namely, a real-time dynamic three-dimensional image. At present, volume probes adopted by four-dimensional ultrasonic imaging systems at home and abroad are mainly mechanical fan-scanning probes which drive sound heads by stepping electric motors and scan target space areas through fan-shaped swinging. The imaging system adopting the mechanical fan-scanning probe needs a stepping motor driving module for driving the sound head to scan back and forth besides the ultrasonic emission driving of the probe. The ultrasonic system controls the sound head to transmit and receive ultrasonic waves, and controls the sound head to continuously reciprocate through the motor driving module, so that two-dimensional images can be acquired on sections with different angles and the two-dimensional images are synthesized to form three-dimensional images.
Because the motor driving module generates a pulse signal to control the continuous reciprocating motion of the sound head while the sound head transmits and receives ultrasonic waves, the pulse signal and high-frequency harmonic waves generated by the pulse signal can interfere with the ultrasonic echo signal which is being received by the sound head and an imaging system.
In addition, in the conventional ultrasonic probe scanning, the process of transmitting and receiving ultrasonic waves by the sound head and the movement of the sound head are performed simultaneously, so that each scanning line of a two-dimensional image formed by scanning the moving sound head is not on the same plane, the actually received signal position deviates from the expected received signal position, the two-dimensional image is blurred, the quality of the two-dimensional image is reduced, and the quality of the three-dimensional image is influenced.
In addition, the reciprocating motion of the sound head generally includes the following stages: the scanning probe comprises a probe body, a probe head, a scanning head and a scanning head, wherein the probe head is used for scanning in the scanning direction, the scanning head is used for scanning in the.
Disclosure of Invention
In view of the above, the present invention provides a method, an apparatus, and a system for controlling scanning of a 4D ultrasound probe, so as to solve the above technical problems.
In order to solve the technical problems, the invention adopts the following technical scheme:
a scanning control method of a 4D ultrasonic probe comprises the following steps:
receiving a probe scanning parameter issued by an upper control program;
respectively controlling a motor driving module to drive a sound head to move and a sound head control module to scan the two-dimensional image to be alternately carried out according to the probe scanning parameters; when the motor driving module drives the sound head to move, the sound head control module suspends scanning of the two-dimensional image, and when the sound head control module scans the two-dimensional image, the sound head suspends moving.
Optionally, the controlling the motor driving module to drive the sound head to move and the sound head control module to scan the two-dimensional image alternately according to the probe scanning parameters includes:
controlling a motor driving module to drive a sound head to gradually move from a first preset position to a second preset position along a first direction according to the probe scanning parameters, and controlling a sound head control module to sequentially scan a two-dimensional image at each pause position between the first preset position and the second preset position;
controlling a motor driving module to drive the sound head to gradually move from a second preset position to a third preset position along a second direction according to the probe scanning parameters, and controlling a sound head control module to sequentially scan a two-dimensional image at each pause position between the second preset position and the third preset position;
the region between the first preset position and the second preset position at least comprises a target scanning region, and the directions of the first direction and the second direction are opposite.
Optionally, the controlling, according to the probe scanning parameter, the motor driving module to drive the acoustic head to gradually move from the first preset position to the second preset position along the first direction, and controlling the acoustic head control module to sequentially scan the two-dimensional image at each pause position between the first preset position and the second preset position specifically includes:
step A: controlling a motor driving module to drive the sound head to swing to a first preset position;
and B: after receiving the driving completion information fed back by the motor driving module, sending the current angle position information of the sound head to the sound head control module, and controlling the sound head control module to scan a frame of two-dimensional image;
and C: after image scanning completion information fed back by the sound head control module is received, controlling the motor driving module to drive the probe to move to a first direction from the current position by a single movement angle;
step D: and C, circularly executing the step B and the step C until the sound head moves to a second preset position and the sound head control module finishes the image scanning of the second preset position.
Optionally, according to the probe scanning parameter, controlling the motor driving module to drive the sound head to gradually move from the second preset position to the third preset position along the second direction, and controlling the sound head control module to sequentially scan the two-dimensional image at each pause position between the second preset position and the third preset position, specifically including:
step E: controlling the motor driving module to drive the sound head to move to a second direction from a second preset position by a single movement angle;
step F: after receiving the driving completion information fed back by the motor driving module, sending the current angle position information of the sound head to the sound head control module, and controlling the sound head control module to scan a two-dimensional image;
step G: after image scanning completion information fed back by the sound head control module is received, controlling the motor driving module to drive the probe to move to a second direction from the current position by a single movement angle;
step H: and F and G are executed in a circulating mode until the sound head moves to a third preset position and the sound head control module finishes image scanning of the third preset position.
Optionally, the first preset position and the third preset position are the same position.
Optionally, after the respectively controlling the motor driving module to drive the sound head to move and the sound head control module to scan the two-dimensional image according to the probe scanning parameters, the method further includes:
and synthesizing all the two-dimensional images obtained by scanning to obtain a three-dimensional image of the scanning area.
Optionally, the probe scanning parameters include at least: the device comprises a two-dimensional scanning depth, a two-dimensional scanning line number, a single motion angle of a sound head and a maximum swing angle, wherein the maximum swing angle is integral multiple of the single motion angle.
A 4D ultrasound probe scan control apparatus, comprising:
the receiving unit is used for receiving the probe scanning parameters issued by the upper control program;
the control unit is used for respectively controlling the motor driving module to drive the sound head to move and the sound head control module to scan the two-dimensional image to be alternately carried out according to the probe scanning parameters; when the motor driving module drives the sound head to move, the sound head control module suspends scanning of the two-dimensional image, and when the sound head control module scans the two-dimensional image, the sound head suspends moving.
Optionally, the control unit comprises:
the first control unit is used for controlling the motor driving module to drive the sound head to gradually move from a first preset position to a second preset position along a first direction according to the probe scanning parameters, and controlling the sound head control module to sequentially scan a two-dimensional image at each pause position between the first preset position and the second preset position;
the second control unit is used for controlling the motor driving module to drive the sound head to gradually move from the second preset position to the third preset position along the second direction according to the probe scanning parameters, and controlling the sound head control module to sequentially scan the two-dimensional image at each pause position between the second preset position and the third preset position;
the region between the first preset position and the second preset position at least comprises a target scanning region, and the directions of the first direction and the second direction are opposite.
Optionally, the first control unit comprises:
the first motor driving module control subunit is used for controlling the motor driving module to drive the sound head to swing to a first preset position;
the first sound head control module control subunit is used for sending the current angle position information of the sound head to the sound head control module after receiving the driving completion information fed back by the motor driving module and controlling the sound head control module to scan a frame of two-dimensional image;
the second motor driving module control subunit is used for controlling the motor driving module to drive the probe to move to the first direction by a single movement angle from the current position after receiving the image scanning completion information fed back by the sound head control module;
and the first circulating subunit is used for controlling the first sound head control module control subunit and the second motor drive module control subunit to circularly operate until the sound head moves to a second preset position and the sound head control module finishes the image scanning of the second preset position.
Optionally, the second control unit comprises:
the third motor driving module control subunit is used for controlling the motor driving module to drive the sound head to move to a single movement angle from the second preset position to the second direction;
the second sound head control module control subunit is used for sending the current angle position information of the sound head to the sound head control module after receiving the driving completion information fed back by the motor drive module and controlling the sound head control module to scan the two-dimensional image;
the fourth motor driving module control subunit is used for controlling the motor driving module to drive the probe to move to the second direction by a single movement angle from the current position after receiving the image scanning completion information fed back by the sound head control module;
and the second circulating subunit is used for controlling the circulating operation of the second sound head control subunit and the fourth motor driving module control subunit until the sound head moves to a third preset position and the sound head control module finishes the image scanning of the third preset position.
Optionally, the apparatus further comprises:
and the synthesis unit is used for synthesizing all the two-dimensional images obtained by scanning to obtain a three-dimensional image of the scanning area.
A 4D ultrasound scanning control system, comprising: the probe and the host have a 4D scanning function;
the probe with the 4D scanning function comprises a sound head for transmitting ultrasonic waves and receiving ultrasonic echoes and a motor for driving the sound head to swing;
the host at least comprises a processor, a 4D ultrasonic probe scanning control module, a motor driving module and a sound head control module;
the processor is used for issuing a control program for controlling 4D ultrasonic scanning to the 4D ultrasonic probe scanning control module;
the 4D ultrasonic probe scanning control module is used for respectively controlling the motor driving module to drive the sound head to move and the sound head control module to scan the two-dimensional image to be alternately carried out according to the probe scanning parameters; when the motor driving module drives the sound head to move, the sound head control module suspends scanning of the two-dimensional image, and when the sound head control module scans the two-dimensional image, the sound head suspends moving.
Compared with the prior art, the invention has the following beneficial effects:
according to the technical scheme, in the 4D ultrasonic probe scanning control method provided by the invention, the movement of the sound head and the scanning of the image by the sound head are alternately performed, that is, when the sound head scans the image, the motor driving module for driving the movement of the sound head stops working. Therefore, when the sound head scans images, the motor driving module does not generate pulse signals, and therefore interference of the pulse signals generated by the motor driving module and high-frequency harmonics generated by the pulse signals on ultrasonic echo signals being received by the sound head is avoided.
In addition, in the 4D ultrasonic probe scanning control method provided by the invention, since the process of transmitting and receiving ultrasonic waves by the sound head and the movement of the sound head are performed alternately, when the sound head transmits and receives ultrasonic waves, the sound head is still, so that all scanning lines transmitted by the sound head can be ensured to be on the same plane, the deviation between the actually received signal position and the expected received signal position can be reduced, the quality of a two-dimensional image can be improved, and the quality of a three-dimensional image can be improved.
In addition, in the 4D ultrasonic probe scanning control method provided by the invention, since the process of transmitting and receiving ultrasonic waves by the sound head and the motion of the sound head are performed alternately, when the sound head transmits and receives ultrasonic waves, the sound head is still and can accurately stay on a preset position sequence, so that the two-dimensional images obtained by the sound head control module during forward scanning and backward scanning can be completely overlapped at corresponding positions by the control method, the deviation of the three-dimensional image synthesized by the forward scanning image and the backward scanning image is reduced, and the phenomenon of three-dimensional image shake during real-time display is improved.
Drawings
In order to clearly understand the technical solution of the present invention, the drawings used in describing the embodiments of the present invention will be briefly described below. It is obvious that these drawings are only some embodiments of the invention, and that a person skilled in the art will be able to obtain further drawings without any inventive step.
FIG. 1 is a schematic diagram of a 4D ultrasound imaging system framework provided by an embodiment of the present invention;
fig. 2 is a schematic flow chart of a scanning control method of a 4D ultrasonic probe according to an embodiment of the present invention;
fig. 3 is a flowchart illustrating an embodiment of step S22 according to the present invention;
fig. 4 is a schematic flowchart of an example of step S22 provided by the embodiment of the present invention;
fig. 5 is a schematic structural diagram of a 4D ultrasound probe scanning control device provided in an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a control unit according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a first control unit according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a second control unit according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clear and complete, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.
Reference is first made to a 4D ultrasound imaging system provided by an embodiment of the present invention. Fig. 1 is a schematic diagram of a 4D ultrasound imaging system framework provided by an embodiment of the invention. As shown in fig. 1, the 4D ultrasound imaging system includes:
a probe 10 having a 4D scanning function, a host 20, and a display 30.
Among them, the probe 10 having the 4D scanning function includes a sound head 11 for emitting an ultrasonic wave and receiving an ultrasonic echo, and a motor 12 for driving the sound head to swing.
The host 20 at least comprises a processor 21, a 4D ultrasonic probe scanning control module 22, a motor driving module 23, a sound head control module 24, a signal processing module 25, a two-dimensional processing module 26, a three-dimensional synthesis module 27 and a display module 28;
wherein, the processor 21 comprises a control program for controlling the scanning of the probe 10 with the 4D scanning function;
the 4D ultrasonic probe scanning control module 22 is connected to the processor 21, the motor driving module 23, and the sound head control module 24 in the host 20, and is configured to receive probe scanning parameters issued by a control program of the processor 21, and control the motor driving module 23 to drive the sound head to move and the sound head control module 24 to scan images alternately according to the received probe scanning parameters, where when the motor driving module drives the sound head to move, the sound head control module suspends scanning of two-dimensional images, and when the sound head control module scans two-dimensional images, the sound head suspends moving.
As a specific embodiment of the present invention, the 4D ultrasound probe scanning control module 22 may include an FPGA (field programmable gate array) chip, and the FPGA chip may be configured to receive probe scanning parameters issued by a control program of the processor 21, and respectively control the motor driving module 23 to drive the sound head to move and the sound head control module 24 to scan images alternately according to the probe scanning parameters, where when the motor driving module drives the sound head to move, the sound head control module suspends scanning a two-dimensional image, and when the sound head control module scans a two-dimensional image, the sound head suspends moving.
The motor driving module 23 is used for driving the motor 12 to move through a pulse signal;
the sound head control module 24 is used for transmitting and receiving ultrasonic waves;
the signal processing module 25 is configured to process the ultrasonic echo signal received by the acoustic head control module 24;
the two-dimensional processing module 26 is used for converting the ultrasonic echo signals into gray images;
the three-dimensional synthesis module 27 is configured to synthesize a plurality of two-dimensional grayscale images into a three-dimensional volume frame;
the display module 28 is used for outputting images to the display 30.
It should be noted that, in the above-mentioned 4D ultrasound imaging system, the probe 10 with 4D scanning function, the processor 21 in the host 20, the 4D ultrasound probe scanning control module 22, the motor driving module 23, the head control module 24, the signal processing module 25, the two-dimensional processing module 26, the three-dimensional synthesis module 27, and the display module 28 constitute the 4D ultrasound scanning control system provided in the embodiment of the present invention.
Based on the 4D ultrasound scanning control system, the invention provides a scanning control method for a 4D ultrasound probe, which is specifically referred to the following embodiments.
Fig. 2 is a schematic flow chart of a scanning control method of a 4D ultrasound probe according to an embodiment of the present invention. As shown in fig. 2, the method comprises the steps of:
s21, the scanning control module of the 4D ultrasonic probe receives the scanning parameters of the probe sent by the upper control program:
it should be noted that the upper layer control program is issued by the processor 21 in the host 20. The probe scanning parameters at least include: the scanning device comprises two-dimensional scanning depth, two-dimensional scanning line number, a single motion angle StepAngle of the probe and a maximum swing angle MaxAngle, wherein the maximum swing angle MaxAngle is integral multiple of the single motion angle StepAngle.
S22, the 4D ultrasonic probe scanning control module respectively controls the motor driving module to drive the sound head to move and the sound head control module to scan images alternately according to the probe scanning parameters, wherein when the motor driving module drives the sound head to move, the sound head control module suspends scanning two-dimensional images, and when the sound head control module scans two-dimensional images, the sound head suspends moving:
specific embodiments of step S22 will be described in detail later.
S23, synthesizing all the two-dimensional images obtained by scanning to obtain a three-dimensional image of a scanning area:
in the embodiment of the present invention, the specific implementation manner of step S23 may be as follows:
the sound head control module 24 sends the received ultrasonic echo signal to the signal processing module 25, and the signal processing module processes the ultrasonic echo signal received by the sound head control module 24 and transmits the processed ultrasonic echo signal to the two-dimensional processing module 26; the two-dimensional processing module 26 converts the ultrasonic echo signals into gray images and transmits the gray images to the three-dimensional synthesis module, and finally the three-dimensional synthesis module 27 synthesizes a plurality of two-dimensional gray images into a three-dimensional volume frame.
A specific embodiment of step S22 is described in detail below.
Since the probe performs the forward scanning and the backward scanning in the 4D ultrasound scanning system, as shown in fig. 3, the step S22 may specifically include the following steps:
s221, controlling the motor driving module to drive the sound head to gradually move from the first preset position to the second preset position along the first direction according to the probe scanning parameters, and controlling the sound head control module to sequentially scan the two-dimensional image at each pause position between the first preset position and the second preset position.
S222, controlling the motor driving module to drive the sound head to gradually move from the second preset position to the third preset position along the second direction according to the probe scanning parameters, and controlling the sound head control module to sequentially scan the two-dimensional image at each pause position between the second preset position and the third preset position:
wherein the region between the first preset position and the second preset position at least comprises a target scanning region. As an example, the first preset position and the third preset position are the same position. For example, if the target scan area is at an angle in the 60 range of-30 to +30, the probe will be swung at least to-30 or + 30. Then, the angle range between the first preset position and the second preset position at this time at least includes an angle range between-30 ° and +30 °, in this case, the first preset position may be a position where the angle is-30 °, the second preset position may be a position where the angle is +30 °, and the third preset position may be a position where the angle is-30 °. In addition, the first preset position can also be a position at-40 degrees, and the second preset position can also be a position at +35 degrees. That is, in the embodiment of the present invention, an area between the first preset position and the second preset position may be larger than a range covered by the target scanning area.
It should be noted that, in the embodiment of the present invention, if the first direction is a forward direction, and the second direction is a reverse direction, the scanning process shown in fig. 3 may be regarded as that the head movement control and the head control module are controlled in the forward direction to scan the two-dimensional images alternately, and then the head movement control and the head control module are controlled in the reverse direction to scan the two-dimensional images alternately. Likewise, if the first direction is taken as the reverse direction, the second direction is the forward direction. In this case, the scanning process shown in fig. 3 may be regarded as alternately performing the control of the sound head movement and the scanning of the two-dimensional image by the sound head control module in the reverse direction, and then alternately performing the control of the sound head movement and the scanning of the two-dimensional image by the sound head control module in the forward direction.
As an example, the embodiment of the present invention takes a two-dimensional image of the angle range of the target scanning area between the forward half maximum swing angle and the backward half maximum swing angle as an example to describe a specific implementation manner of step S22. In this example, the first preset position is a position at which the maximum swing angle is reversed by half. The second preset position is a position where the maximum swing angle is half of the positive direction. The third preset position is the same as the first preset position and is also the position of the reverse half maximum swing angle.
In the embodiment of the present invention, the maximum swing angle is an angle spanned by the target scanning area. For example, assuming that the angle of the target scanning area is in the angle range between-30 ° and +30 °, the maximum swing angle is 60 °.
Fig. 4 shows a specific implementation of an example of step S22. As shown in fig. 4, step S22 may specifically include the following steps:
s41, the 4D ultrasonic probe scanning control module controls the motor driving module to drive the sound head to swing from the current position to a first preset position:
in general, the initial position of the acoustic head is generally at the neutral position, i.e., the position at which the swing angle is 0 °, and is not biased in either the forward or reverse direction. Therefore, when the scanning starts, the motor driving module is controlled to drive the sound head to swing to the first preset position in the second direction.
And S42, after the sound head swings to the first preset position, the motor driving module feeds back swing information to the 4D ultrasonic probe scanning control module.
S43, after the 4D ultrasonic probe scanning control module receives the swing completion information fed back by the motor driving module, the current angle position information of the sound head is sent to the sound head control module and controls the sound head control module to scan a frame of two-dimensional image, and the sound head control module marks the current angle position information of the sound head on the two-dimensional image:
it should be noted that, the information of the angular position of the sound head and the frame of two-dimensional image obtained by scanning by the sound head control module at the angular position are used to participate in the synthesis of the frame of three-dimensional image.
S44, when the sound head control module finishes receiving all scanning lines, the sound head control module feeds back information of finishing image scanning to the 4D ultrasonic probe scanning control module:
it should be noted that a frame of two-dimensional image is composed of a plurality of scanning lines, and after the sound head control module completes reception of all the scanning lines, the sound head control module feeds back information of image scanning completion to the 4D ultrasonic probe scanning control module.
The meaning of the scan lines described in the embodiments of the present invention is explained below. The space where the energy of the emitted ultrasonic wave reaches when the ultrasonic wave propagates in the medium is called a sound field for short, and the sound field is also called a sound beam. Ultrasound imaging relies primarily on a probe to emit a highly directional sound beam and receive echoes. We define the sampling points of the echoes on the midline of the beam, and these sampling points combine into a line, called the scan line.
S45, after the 4D ultrasonic probe scanning control module receives the image scanning completion information fed back by the sound head control module, controlling the motor driving module to drive the sound head to move a single movement angle from the current angle position to the first direction:
s46, when the sound head completes the movement, the motor driving module feeds back the information of the completion of the movement to the 4D ultrasonic probe scanning control module:
the steps S43 to S46 are cyclically executed until the sound head moves to the second preset position, and the sound head control module completes the image scanning when the sound head is located at the second preset position.
It is to be noted that the processes of steps S43 to S46 are performed for the 4D ultrasound scanning system to perform the first direction scanning. By performing steps S43 to S46 in a loop until the sound head moves to the second preset position, and the sound head control module completes the image scanning when the sound head is located at the second preset position, the 4D ultrasound scanning control system scans the frames of images of maxalgle/steplength +1 in the first direction, and the two-dimensional images are used to synthesize a frame of three-dimensional image.
The first direction scanning process may be completed by circularly performing steps S43 to S46. It should be noted that steps S41 to S46 may be regarded as a specific implementation manner of step S221. Further, if the first direction is taken as the forward direction, the steps S41 to S46 may be regarded as a forward direction scanning process.
The scanning process in the second direction is performed as follows. Which comprises the following steps:
and S47, after the sound head control module finishes receiving the last scanning line, the sound head control module feeds back information of finishing image scanning to the 4D ultrasonic probe scanning control module.
And S48, after the 4D ultrasonic probe scanning control module receives the image scanning completion information fed back by the sound head control module, controlling the motor driving module to drive the sound head to move to a second direction from the current angle position by a single movement angle StepAngle.
And S49, when the sound head finishes moving, the motor driving module feeds back the information of the movement completion to the 4D ultrasonic probe scanning control module.
S410 and 4D, after receiving the swing finishing information fed back by the motor driving module, the scanning control module of the ultrasonic probe sends the current angle position information of the sound head to the sound head control module, controls the sound head control module to scan a frame of two-dimensional image, and marks the current angle position information of the sound head on the two-dimensional image.
The steps S47 to S410 are executed in a loop until the sound head moves to the third preset position, and the sound head control module completes the image scanning when the sound head is located at the third preset position.
It is necessary to explain the process of steps S47 to S410 for the 4D ultrasound scanning system to perform scanning in the second direction. By performing steps S47 to S410 in a loop until the sound head moves to the third preset position, and the sound head control module finishes scanning the image when the sound head is located at the third preset position, the 4D ultrasound scanning system scans the frames of the maxalgle/steplength +1 images in the second direction, and the two-dimensional images are used to synthesize a frame of the three-dimensional image.
It should be noted that steps S47 to S410 can be regarded as a specific implementation manner of step S222. In addition, if the first direction is regarded as the forward direction and the second direction is regarded as the reverse direction, the steps S47 to S410 can be regarded as the reverse scan process.
S411, judging whether a stop instruction sent by the processor is received, if yes, executing step S412, and if not, returning to execute step S41.
S412, controlling the motor driving module to drive the sound head to move to a fourth preset position, and controlling the sound head control module to stop scanning:
need to be explained. The fourth preset position may be an initial position of the sound head. Which is generally the neutral position, i.e. the position in which the swing angle is 0 deg..
The above is a specific implementation of the method for controlling scanning of a 4D ultrasound probe according to the embodiment of the present invention, in which steps S43 to S46 are a first direction scanning process, and steps S47 to S410 are a second direction scanning process. In this embodiment, the first direction scan is performed first, and then the second direction scan is performed. As another embodiment of the present invention, the second direction scanning may be performed first, and then the first direction scanning may be performed. The embodiment of performing the second direction scan first and then performing the first direction scan is similar to the embodiment of performing the first direction scan first and then performing the second direction scan, and only the first direction in the embodiment of performing the first direction scan first and then performing the second direction scan needs to be replaced by the second direction, and the second direction needs to be replaced by the first direction. For the sake of brevity, it will not be described in detail herein.
The foregoing is a specific implementation of the scanning control method for a 4D ultrasound probe according to the embodiment of the present invention. In this specific embodiment, the 4D ultrasound probe scanning control module controls the motor driving module to drive the sound head to move and the sound head control module to scan the image, respectively, so that the sound head movement and the sound head control module scanning the image are not performed simultaneously. Therefore, when the sound head control module scans images, the motor driving module does not generate pulse signals, and therefore the pulse signals generated by the motor driving module and high-frequency harmonics generated by the pulse signals can be prevented from interfering with ultrasonic echo signals received by the sound head.
In addition, in the 4D ultrasonic probe scanning control method provided by the invention, as the processes of transmitting and receiving ultrasonic waves by the sound head and the movement of the sound head are carried out alternately, all scanning lines transmitted by the sound head can be ensured to be on the same plane, the deviation between the actually received signal position and the expected received signal position can be reduced, the quality of a two-dimensional image can be improved, and the quality of a three-dimensional image can be improved.
In addition, in the 4D ultrasonic probe scanning control method provided by the invention, as the process of transmitting and receiving ultrasonic waves by the sound head and the motion of the sound head are performed alternately, when the sound head transmits and receives ultrasonic waves, the sound head is still and can accurately stay on a preset position sequence, so that the two-dimensional images obtained by the sound head control module in forward scanning and reverse scanning can be completely overlapped at corresponding positions by the control method, the deviation of the three-dimensional image synthesized by the forward scanning image and the reverse scanning image is reduced, and the phenomenon of left-right shaking of the three-dimensional image in real-time display is improved.
Based on the 4D ultrasound probe scanning control method provided by the above embodiment, the present invention also provides a specific implementation manner of the 4D ultrasound probe scanning control device.
Fig. 5 is a schematic structural diagram of a scanning control device of a 4D ultrasound probe according to an embodiment of the present invention. As shown in fig. 5, the 4D ultrasound probe scanning control device includes the following units:
a receiving unit 51, configured to receive probe scanning parameters issued by an upper control program;
the control unit 52 is used for respectively controlling the motor driving module to drive the sound head to move and the sound head control module to scan the two-dimensional image to alternately perform according to the probe scanning parameters; when the motor driving module drives the sound head to move, the sound head control module suspends scanning the two-dimensional image, and when the sound head control module scans the two-dimensional image, the sound head suspends moving;
and a synthesizing unit 53, configured to synthesize all the two-dimensional images obtained by scanning, to obtain a three-dimensional image of the scanning area.
As an embodiment of the present invention, as shown in fig. 6, the control unit 52 may specifically include the following units:
the first control unit 521 is configured to control the motor driving module to drive the sound head to gradually move from the first preset position to the second preset position along the first direction according to the probe scanning parameter, and control the sound head control module to sequentially scan the two-dimensional image at each pause position between the first preset position and the second preset position;
the second control unit 522 is configured to control the motor driving module to drive the acoustic head to gradually move from the second preset position to a third preset position along the second direction according to the probe scanning parameter, and control the acoustic head control module to sequentially scan the two-dimensional image at each pause position between the second preset position and the third preset position;
the region between the first preset position and the second preset position at least comprises a target scanning region, and the directions of the first direction and the second direction are opposite.
As an embodiment of the present invention, as shown in fig. 7, the first control unit 521 may specifically include the following sub-units:
a first motor driving module control subunit 5211, configured to control the motor driving module to drive the sound head to swing to a first preset position;
a first sound head control module control subunit 5212, configured to send the current angular position information of the sound head to the sound head control module after receiving the driving completion information fed back by the motor drive module, and control the sound head control module to scan a frame of two-dimensional image;
a second motor driving module control subunit 5213, configured to control the motor driving module to drive the probe to move from the current position to the first direction by a single movement angle after receiving the image scanning completion information fed back by the sound head control module;
a first circulation subunit 5214, configured to control the first sound head control module control subunit and the second motor drive module control subunit to operate in a circulation manner until the sound head moves to a second preset position and the sound head control module completes image scanning at the second preset position.
As an embodiment of the present invention, as shown in fig. 8, the second control unit 522 may specifically include the following sub-units:
a third motor driving module control subunit 5221, configured to control the motor driving module to drive the sound head to move from the second preset position to the second direction by a single movement angle;
a second sound head control module control subunit 5222, configured to send the current angular position information of the sound head to the sound head control module after receiving the driving completion information fed back by the motor drive module, and control the sound head control module to scan a two-dimensional image;
a fourth motor driving module control subunit 5223, configured to control the motor driving module to drive the probe to move from the current position to the second direction by a single movement angle after receiving the image scanning completion information fed back by the sound head control module;
a second circulation subunit 5224, configured to control the second sonic head control module control subunit and the fourth motor drive module control subunit to perform circulation operation until the sonic head moves to a third preset position and the sonic head control module completes image scanning at the third preset position.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (12)
1. A scanning control method of a 4D ultrasonic probe is characterized by comprising the following steps:
receiving probe scanning parameters issued by an upper control program, wherein the probe scanning parameters at least comprise: the method comprises the following steps of two-dimensional scanning depth, two-dimensional scanning line number, single motion angle of a sound head and maximum swing angle, wherein the maximum swing angle is integral multiple of the single motion angle, and the maximum swing angle is at least an angle spanned by a target scanning area;
respectively controlling a motor driving module to drive a sound head to move and a sound head control module to scan the two-dimensional image to be alternately carried out according to the probe scanning parameters; when the motor driving module drives the sound head to move, the sound head control module suspends scanning of the two-dimensional image, and when the sound head control module scans the two-dimensional image, the sound head suspends moving.
2. The method according to claim 1, wherein the controlling the motor driving module to drive the sound head to move and the sound head control module to scan the two-dimensional image alternately according to the probe scanning parameters comprises:
controlling a motor driving module to drive a sound head to gradually move from a first preset position to a second preset position along a first direction according to the probe scanning parameters, and controlling a sound head control module to sequentially scan a two-dimensional image at each pause position between the first preset position and the second preset position;
controlling a motor driving module to drive the sound head to gradually move from a second preset position to a third preset position along a second direction according to the probe scanning parameters, and controlling a sound head control module to sequentially scan a two-dimensional image at each pause position between the second preset position and the third preset position;
the region between the first preset position and the second preset position at least comprises a target scanning region, and the directions of the first direction and the second direction are opposite.
3. The method according to claim 2, wherein controlling the motor driving module to drive the sound head to move from the first preset position to the second preset position step by step along the first direction and controlling the sound head control module to scan the two-dimensional image at each pause position between the first preset position and the second preset position in sequence according to the probe scanning parameters specifically comprises:
step A: controlling a motor driving module to drive the sound head to swing to a first preset position;
and B: after receiving the driving completion information fed back by the motor driving module, sending the current angle position information of the sound head to the sound head control module, and controlling the sound head control module to scan a frame of two-dimensional image;
and C: after image scanning completion information fed back by the sound head control module is received, controlling the motor driving module to drive the probe to move to a first direction from the current position by a single movement angle;
step D: and C, circularly executing the step B and the step C until the sound head moves to a second preset position and the sound head control module finishes the image scanning of the second preset position.
4. The method according to claim 2, wherein controlling the motor driving module to drive the sound head to move from the second preset position to the third preset position step by step along the second direction according to the probe scanning parameters, and controlling the sound head control module to scan the two-dimensional image at each pause position between the second preset position and the third preset position in turn, specifically comprises:
step E: controlling the motor driving module to drive the sound head to move to a second direction from a second preset position by a single movement angle;
step F: after receiving the driving completion information fed back by the motor driving module, sending the current angle position information of the sound head to the sound head control module, and controlling the sound head control module to scan a two-dimensional image;
step G: after image scanning completion information fed back by the sound head control module is received, controlling the motor driving module to drive the probe to move to a second direction from the current position by a single movement angle;
step H: and F and G are executed in a circulating mode until the sound head moves to a third preset position and the sound head control module finishes image scanning of the third preset position.
5. The method of claim 2, wherein the first predetermined location and the third predetermined location are the same location.
6. The method according to any one of claims 1-5, wherein after the separately controlling the motor driving module to drive the head movement and the head control module to scan the two-dimensional image according to the probe scanning parameters, the method further comprises:
and synthesizing all the two-dimensional images obtained by scanning to obtain a three-dimensional image of the scanning area.
7. A4D ultrasonic probe scanning control device, characterized by comprising:
a receiving unit, configured to receive probe scanning parameters issued by an upper control program, where the probe scanning parameters at least include: the method comprises the following steps of two-dimensional scanning depth, two-dimensional scanning line number, single motion angle of a sound head and maximum swing angle, wherein the maximum swing angle is integral multiple of the single motion angle, and the maximum swing angle is at least an angle spanned by a target scanning area;
the control unit is used for respectively controlling the motor driving module to drive the sound head to move and the sound head control module to scan the two-dimensional image to be alternately carried out according to the probe scanning parameters; when the motor driving module drives the sound head to move, the sound head control module suspends scanning of the two-dimensional image, and when the sound head control module scans the two-dimensional image, the sound head suspends moving.
8. The apparatus of claim 7, wherein the control unit comprises:
the first control unit is used for controlling the motor driving module to drive the sound head to gradually move from a first preset position to a second preset position along a first direction according to the probe scanning parameters, and controlling the sound head control module to sequentially scan a two-dimensional image at each pause position between the first preset position and the second preset position;
the second control unit is used for controlling the motor driving module to drive the sound head to gradually move from the second preset position to the third preset position along the second direction according to the probe scanning parameters, and controlling the sound head control module to sequentially scan the two-dimensional image at each pause position between the second preset position and the third preset position;
the region between the first preset position and the second preset position at least comprises a target scanning region, and the directions of the first direction and the second direction are opposite.
9. The apparatus of claim 8, wherein the first control unit comprises:
the first motor driving module control subunit is used for controlling the motor driving module to drive the sound head to swing to a first preset position;
the first sound head control module control subunit is used for sending the current angle position information of the sound head to the sound head control module after receiving the driving completion information fed back by the motor driving module and controlling the sound head control module to scan a frame of two-dimensional image;
the second motor driving module control subunit is used for controlling the motor driving module to drive the probe to move to the first direction by a single movement angle from the current position after receiving the image scanning completion information fed back by the sound head control module;
and the first circulating subunit is used for controlling the first sound head control module control subunit and the second motor drive module control subunit to circularly operate until the sound head moves to a second preset position and the sound head control module finishes the image scanning of the second preset position.
10. The apparatus of claim 8, wherein the second control unit comprises:
the third motor driving module control subunit is used for controlling the motor driving module to drive the sound head to move to a single movement angle from the second preset position to the second direction;
the second sound head control module control subunit is used for sending the current angle position information of the sound head to the sound head control module after receiving the driving completion information fed back by the motor drive module and controlling the sound head control module to scan the two-dimensional image;
the fourth motor driving module control subunit is used for controlling the motor driving module to drive the probe to move to the second direction by a single movement angle from the current position after receiving the image scanning completion information fed back by the sound head control module;
and the second circulating subunit is used for controlling the circulating operation of the second sound head control subunit and the fourth motor driving module control subunit until the sound head moves to a third preset position and the sound head control module finishes the image scanning of the third preset position.
11. The apparatus according to any one of claims 7-10, further comprising:
and the synthesis unit is used for synthesizing all the two-dimensional images obtained by scanning to obtain a three-dimensional image of the scanning area.
12. A 4D ultrasound scanning control system, comprising: the probe and the host have a 4D scanning function;
the probe with the 4D scanning function comprises a sound head for transmitting ultrasonic waves and receiving ultrasonic echoes and a motor for driving the sound head to swing;
the host at least comprises a processor, a 4D ultrasonic probe scanning control module, a motor driving module and a sound head control module;
the processor is configured to issue probe scanning parameters in a control program for controlling 4D ultrasound scanning to the 4D ultrasound probe scanning control module, where the probe scanning parameters at least include: the method comprises the following steps of two-dimensional scanning depth, two-dimensional scanning line number, single motion angle of a sound head and maximum swing angle, wherein the maximum swing angle is integral multiple of the single motion angle, and the maximum swing angle is at least an angle spanned by a target scanning area;
the 4D ultrasonic probe scanning control module is used for respectively controlling the motor driving module to drive the sound head to move and the sound head control module to scan the two-dimensional image to be alternately carried out according to the probe scanning parameters; when the motor driving module drives the sound head to move, the sound head control module suspends scanning of the two-dimensional image, and when the sound head control module scans the two-dimensional image, the sound head suspends moving.
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| CN108888291A (en) * | 2018-05-21 | 2018-11-27 | 柏塔科技（深圳）有限公司 | A kind of 3D and 4D scanning probe control method based on fan-shaped rotary |
| CN109480900B (en) * | 2018-11-01 | 2021-08-13 | 飞依诺科技(苏州)有限公司 | 4D ultrasonic probe scanning control method and device and storage medium |
| CN112116996A (en) * | 2020-09-11 | 2020-12-22 | 青岛海信医疗设备股份有限公司 | Scanning control method of medical ultrasonic equipment and electronic equipment |
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| US20050288587A1 (en) * | 2004-06-25 | 2005-12-29 | Yongrae Roh | Drive machanism for mechanically scanned ultrasound transducers |
| KR100562886B1 (en) * | 2005-03-24 | 2006-03-22 | 주식회사 프로소닉 | Ultrasonic probe for 4 dimensional image |
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