CN107981888A - Computer galactophore scanning automation alignment system - Google Patents
Computer galactophore scanning automation alignment system Download PDFInfo
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- CN107981888A CN107981888A CN201711395388.XA CN201711395388A CN107981888A CN 107981888 A CN107981888 A CN 107981888A CN 201711395388 A CN201711395388 A CN 201711395388A CN 107981888 A CN107981888 A CN 107981888A
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- mechanical arm
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
- A61B8/0825—Detecting organic movements or changes, e.g. tumours, cysts, swellings for diagnosis of the breast, e.g. mammography
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- 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
-
- 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
- A61B8/4455—Features of the external shape of the probe, e.g. ergonomic aspects
-
- 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
Abstract
The invention discloses a kind of computer galactophore scanning automation alignment system, wherein, a rotation angular encoder is provided between the adjacent mechanical arm of each two, for the relative rotation angle between two mechanical arms of measurement spatially, and is sent to processor；Manipulator is popped one's head in be connected with one of the end of multiple mechanical arms, for being scanned with different locus to breast, and by the image transmitting scanned to processor；Processor is used to record calibration left/right AP positions and nipple image initial position manually, and according to manipulator pop one's head in each different spatial when, the space relative rotation angle of corresponding each mechanical arm, determines the displacement of picture position and nipple that different spatial scans in the picture.The present invention can accurately and efficiently automatically determine picture position and nipple picture displacement information in the scan image that ultrasound probe obtains during motion scan, and simple in structure, and manufacture cost is low.
Description
Technical field
The present invention relates to medical instruments field, and in particular to ultrasonic scanning system technical field.
Background technology
As medical treatment and the progress of correlation technique, ultrasonic scanning system are applied to medical field more and more widely, especially
It is the fields such as Breast health.At present, when being scanned using automatic breast ultrasound scan system to breast, once sweep automatically
The 3-D view retouched can cover the subregion of breast.In diagnosis or examination, in order to cover whole breast, usually operation
Personnel are needed total volume manipulator probe placement in three positions of breast, and whole breast is covered to obtain three 3-D views
Room region.These three positions are often referred to simply as " AP ", " MED " and " LAT " (referring to Fig. 1).
The 3-D view for being scanned and being obtained to breast using automatic breast ultrasound scan system can also be noted as phase
The position answered is to facilitate doctor's read tablet.And this mark behavior is typically operating personnel is inputted manually in scanning workstation.
Obtain image in, due to it needs to be determined that image pixel with respect to nipple position, after the end of scan, staff need
Mark teat placement information on the image manually.At present, either academia or industrial quarters, do not mark automatically melt entirely it is super
The system of sound scan position and teat placement.
On the other hand, in tracking label module, traditional tracer technique based on electromagnetism, of high cost, accuracy rate is low.
And it is existing complicated in different light, object due to that can not adapt to based on the technology of video frequency tracking, often follow the trail of or detect
Effect is bad.
Therefore, generally speaking, in current breast ultrasound scan system, method there is no to carry out ultrasound to mammary gland in mobile probe
During scanning, accurately and efficiently automatically determine displacement of the nipple in the scan image obtained by mobile scanning probe, i.e., it is newborn
Head picture displacement.
In conclusion there is an urgent need in the art to a kind of new computer galactophore scanning automation alignment system, Neng Gouzhun
Really efficiently automatically determine nipple picture displacement information in the scan image that ultrasound probe obtains in moving process with
And image location information.
The content of the invention
, can be accurately and efficiently it is an object of the invention to provide a kind of computer galactophore scanning automation alignment system
Automatically determine the nipple picture displacement information in the scan image that ultrasound probe obtains in moving process and image position
Confidence ceases.
A kind of computer galactophore scanning automation alignment system provided by the invention, comprising：Manipulator probe, processing
Device, and robot assemblies, the robot assemblies include the multiple machineries that can be rotated horizontally connection successively or be rotatably connected vertically
Arm, multiple rotation angular encoders, wherein,
A rotation angular encoder is provided between the adjacent mechanical arm of each two, for measure two mechanical arms it
Between relative rotation angle spatially, and be sent to the processor；
Manipulator probe is connected with one end of the robot assemblies, for being swept with different locus to breast
Retouch, and give the image transmitting scanned to the processor；
The processor is used to record nipple image initial position, and each the different spaces position popped one's head according to the manipulator
When putting, the space relative rotation angle of corresponding each mechanical arm and the horizontal length of each mechanical arm, determine the difference
The displacement of the picture position and nipple that locus is scanned in the picture.
Preferably, manipulator probe and the junction of the robot assemblies are provided with a rotation angular encoder, use
Relative rotation angle of the manipulator probe relative to the end of the mechanical arm of its connection is scanned in calculating, and gained information is defeated by
The processor, also,
During each different spatial that the processor is popped one's head according to the manipulator, the sky of corresponding each mechanical arm
Between relative rotation angle, and manipulator probe relative to its connection mechanical arm end relative rotation angle, determine should
The displacement of the picture position and nipple that different spatial scans in the picture.
Preferably, which includes：First and second mechanical arms, first, second, and third rotation angular coding
Device, wherein,
One end of the first mechanical arm is rotatably attached with a fixing piece, and the first rotation angle is provided with junction
Encoder, the other end of the first mechanical arm and one end of second mechanical arm are rotatably attached, and is provided with junction
Two rotation angular encoders；
The other end of second mechanical arm is rotatably attached with manipulator probe, and the 3rd rotation is provided with junction
Angular encoder.
Preferably, which is fixed at the base plane of the system.
Preferably, which pops one's head in spatially relative to the coordinate of initial position according to manipulator, determines the machinery
The nipple picture displacement for the image that hand probe is scanned in different spatial.
Preferably, the processor is long according to the space relative rotation angle of each mechanical arm and the level of each mechanical arm
Degree, obtains manipulator probe physical displacement, and the breast for the image that the different spatial scans is determined according to the following formula
Head picture displacement：
Nipple picture displacement=- 1 × (manipulator probe physical displacement/image pixel physics size)
Preferably, the nipple picture displacement refer to the scanning to image in relative to the nipple image initial position
Displacement.
Preferably, which is additionally operable to the image scanned according to the nipple image initial position and diverse location
Nipple picture displacement, the image that diverse location scans is spliced, obtains the physics overall picture at entire scan position.
Preferably, the teat placement which clicks on manually according to scanning staff, automatic aligned spaces coordinate, under being used for
Scan position once judges and teat placement judges.
Embodiment of the present invention compared with prior art, at least with following difference and effect：
A rotation angular encoder is provided between the adjacent mechanical arm of each two, for measuring described two mechanical arms
Between relative rotation angle spatially, and be sent to the processor, meanwhile, the end of manipulator probe and multiple mechanical arms
One of connection, give the processor for being scanned with different locus to breast, and by the image transmitting scanned,
So as to by processor, during each different spatial popped one's head according to manipulator, the space of corresponding each mechanical arm
The horizontal length of relative rotation angle and each mechanical arm, determines picture position and breast that different spatial scans
The displacement of head in the picture.In the scan image obtained thereby, it is possible to automatically determine ultrasound probe in moving process
Nipple picture displacement information.
Further, the junction of the manipulator probe and the robot assemblies is provided with a rotation angular coding
Device, for calculating relative rotation angle of the scanning manipulator probe relative to the end of the mechanical arm of its connection, and gained is believed
Breath is defeated by the processor, also, processor popped one's head according to manipulator each different spatial when, corresponding is each
The space relative rotation angle of mechanical arm, and manipulator probe is relative to the relative rotation angle of the end of the mechanical arm of its connection
Degree, determines the displacement of picture position and nipple that different spatial scans in the picture.Thus, further increase
The accuracy of the information of nipple picture displacement.
Further, computer galactophore scanning automation alignment system include the first and second mechanical arms and first,
Second and the 3rd rotation angular encoder, angular encoder relative rotation angle is sent to processor, also, the processor
Calculate accordingly and obtain manipulator probe spatially relative to the coordinate (X, Y) of initial position, so as to automatically determine the machinery
The nipple picture displacement for the image that hand probe is scanned in different spatial.Thus, manipulator probe is conveniently realized
While rotation and displacement, by obtaining the relative rotation angle of each tie point, for the automatic picture displacement for obtaining nipple
Information provides accurate reference data, so as to automatically determine the picture displacement information of nipple.
Further, the processor is additionally operable to splice the image that diverse location scans, and obtains overall sweep
The physics overall picture at position is retouched, thus more easily obtains more perfect ultrasound scan images.
It is to be understood that within the scope of the present invention, above-mentioned each technical characteristic of the invention and have in below (eg embodiment)
It can be combined with each other between each technical characteristic of body description, so as to form new or preferable technical solution.As space is limited, exist
This no longer tires out one by one states.
Brief description of the drawings
Fig. 1 shows the schematic diagram that will melt machine manipulator probe placement entirely in three positions of breast；
Fig. 2 shows the structure of computer galactophore scanning automation alignment system according to an embodiment of the invention
Schematic diagram.
In the drawings,
11：First mechanical arm；
12：Second mechanical arm；
13：Manipulator is popped one's head in；
14：Fixing piece；
21：First rotation angular encoder；
22：Second rotation angular encoder；
23：3rd rotation angular encoder.
Embodiment
The present inventor can pass through multiple machineries with rotation angular encoder by in-depth study extensively, discovery
Arm, the rotation information popped one's head in by gathering rotatable mechanical arm with manipulator, and processor is sent to, calculated and obtained by processor
Manipulator probe physical displacement spatially, and according to human body nipple initial position spatially and in the picture initial
Position, is further calculated, so as to automatically and accurately obtain the picture displacement of nipple.
In the following description, many ins and outs are proposed in order to make reader more fully understand the application.But this
Even if the those of ordinary skill in field is appreciated that without these ins and outs and many variations based on following embodiment
And modification, it can also realize each claim of the application technical solution claimed.
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with implementation of the attached drawing to the present invention
Mode is described in further detail.
Term
As used herein, term " processor " is used for by wireless communication module or wired connection into the transmitting-receiving of row information
Calculate the information of nipple picture displacement.Processor can use micro-control unit (Micro Controller Unit, abbreviation
" MCU "), digital signal processor (Digital Signal Processor, referred to as " DSP "), microcontroller etc. is realized, can also
Realized using logic circuit.
As used herein, term " rotation angular encoder ", " encoder " are same implications, and angle position is rotated position by encoder
Transfer changes electric signal into, then this electric signal is transformed into counting pulse, and the size of angle is represented with the number of pulse.
As used herein, term " nipple picture displacement " refers to relative displacement of the nipple in ultrasound scan images.
Main advantages of the present invention include：
1) information and image location information of nipple picture displacement can be automatically obtained.
2) not only facilitated but also accurate.
3) the physics overall picture at entire scan position can be obtained further by image mosaic.
4) it is simple in structure, manufacture cost it is low.
5) positioned by the nipple of the present invention, last deviation is grade, significantly reduces deviation.
6) calculating speed is fast, can accomplish nipple, the real-time positioning of position of manipulator, significantly improves efficiency.
In conclusion computer galactophore scanning automation alignment system provided by the invention drastically increases systematicness
Can, cost is reduced, has very wide application prospect in medical instrument, especially breast ultrasound scan field.
First embodiment：Computer galactophore scanning automation alignment system
Referring to Fig. 2, the computer galactophore scanning automation alignment system of the present embodiment, comprising：Manipulator probe 13, place
Device (not shown), and robot assemblies are managed, robot assemblies include can rotate horizontally connection or vertical rotatable connection successively
Multiple mechanical arms, multiple rotation angular encoders, wherein, a rotation angle is provided between the adjacent mechanical arm of each two
Encoder, for the relative rotation angle between two mechanical arms of measurement spatially, and is sent to processor；Manipulator probe 13
It is connected with one end of robot assemblies, is passed for being scanned with different locus to breast, and by the image scanned
It is defeated by processor；Processor is used to record nipple image initial position, and according to each different spaces of manipulator probe 13
During position, the space relative rotation angle of corresponding each mechanical arm and the horizontal length of each mechanical arm, determine difference
The displacement of the picture position and nipple that locus is scanned in the picture.
In the present embodiment, picture position is LAT, AP as in the schematic diagram in technical background, wherein one in MED
A position, the displacement of nipple in the picture, i.e. nipple picture displacement, refers to nipple on the image relative to the position of initial position
Move.
It should be noted that when manipulator probe 13 is in some locus, the space of each mechanical arm is opposite
Rotation angle refers to that the space that the rotation angular encoder measurement set between the adjacent mechanical arm of each two obtains rotates against
Angle.
Processor is used to record calibration left/right AP positions (referring to Fig. 1) and nipple image initial position manually.Also,
When manipulator probe 13 is moved, receive the two neighboring mechanical arm that measures from each rotation angular encoder it
Between relative rotation angle spatially, thereby determine that manipulator probe 13 the picture position that different spatial scans with
And the displacement of nipple in the picture.
Connection or vertical rotatable connection can be rotated horizontally between multiple mechanical arms, refers to that a mechanical arm can be relative to another
Root mechanical arm is in the horizontal direction or vertical direction rotates, and further, which can be by being arranged on adjacent machine arm
Rotation angular encoder measurement on connecting pin.
Further, in other embodiments of the invention, manipulator probe 13 and the junction of robot assemblies are set
There is a rotation angular encoder, for calculating scanning manipulator probe 13 relative to the opposite of the end of the mechanical arm of its connection
Rotation angle, and gained information is defeated by processor.
In this case, processor according to manipulator probe 13 each different spatial when, corresponding is each
The space relative rotation angle of a mechanical arm, and manipulator probe 13 is relative to the opposite rotation of the end of the mechanical arm of its connection
Gyration, determines the displacement of picture position and nipple that different spatial scans in the picture.
More specifically, the robot assemblies of computer galactophore scanning automation alignment system include the first and second machines
Tool arm 11,12；First, second, and third rotation angular encoder 21,22 and 23, wherein, one end of first mechanical arm 11 and one
Fixed frame 14 is rotatably attached, and the first rotation angular encoder 21 is provided with junction, first mechanical arm 11 it is another
Hold one end with second mechanical arm 12 to be rotatably attached, and the second rotation angular encoder 22 is provided with junction；Second
The other end of mechanical arm 12 is rotatably attached with manipulator probe 13, and the 3rd rotation angular encoder is provided with junction
23.In addition, in the present embodiment, fixed frame 14 is fixed at the base plane of system.
Wherein, between first mechanical arm 11 and fixed frame 14 can horizontal direction rotation and move up and down, first mechanical arm 11
Between second mechanical arm 12 can horizontal direction rotation, second mechanical arm 12 and manipulator probe 13 between can horizontal direction revolve
Turn.However, the present invention is not limited thereto, in other embodiments, can also change rotation mode according to different needs.
More specifically, the first rotation angular encoder 21 measure one end of first mechanical arm 11 and a fixed frame 14 it
Between the first relative rotation angle, the second rotation angular encoder 22 measure first mechanical arm 11 the other end and second machinery
The second relative rotation angle between one end of arm 12, the 3rd rotation angular encoder 23 measure the another of second mechanical arm 12
Third phase between end and manipulator probe 13 is to rotation angle.Also, first, second, third rotation angular encoder 21,22
First, second, third relative rotation angle is sent to processor respectively with 23.
In the present embodiment, processor according to manipulator probe 13 spatially relative to the coordinate (X, Y) of initial position,
Determine nipple picture displacement and the picture position for the image that manipulator probe 13 is scanned in different spatial.
It should be noted that manipulator probe 13 just refers to machinery spatially relative to the coordinate (X, Y) of initial position
Hand probe 13 is spatially relative to the space displacement of initial position.
More specifically, processor pops one's head in 13 spatially relative to initial position according to the following formula calculating machine hand
Coordinate (X, Y)：
The first step：Rotation angular encoder is calibrated, determines that encoder rotates clockwise or counter-clockwise, rotation angular coding
Device is to be incremented by or successively decrease, if during mechanical erection, the zero point value and bed of the first and second rotation angular encoders 21 and 22 are horizontal,
Then perform second step.
Second step：Left/right AP positions are scanned, the teat placement in AP orientation is obtained either manually or by image processing method,
At this time：
(1) first mechanical arm 11 relative to initial position coordinate (X1, Y1)：
It should be noted that as described above, one end of first mechanical arm 11 is connected with fixed frame 14, the other end and the second machine
Tool arm 12 connects, and (X1, Y1) is coordinate of the first mechanical arm 11 with one end that second mechanical arm 12 is connected relative to initial position.
X1=A*cos (a)
Y1=A*sin (a)
Wherein：
A：The horizontal length of first mechanical arm 11, that is, length of the first mechanical arm 11 in plane projection.
a：For the first rotation angle, i.e. rotation angle when first mechanical arm 11 is relative to initial position.
(2) manipulator probe 13 is spatially relative to the coordinate (X, Y) of initial position：
X=X1+B*cos (b)
Y=Y1+B*sin (b)
Wherein,
(X1, Y1)：First mechanical arm 11 is in physical space relative to the initial coordinate of initial position；
B：The horizontal length of second mechanical arm 12, that is, length of the second mechanical arm 12 in plane projection；
b：Second rotation angle：Rotation angle when second mechanical arm 12 is relative to initial position.
(3) relative rotation angle of the 3rd rotation angular encoder 23 when record this time scans
3rd step：When scanning other bearing images, according to corresponding to the algorithm of second step can obtain scan position at this time
Numerical value, i.e. x coordinate value and y-coordinate value, the numerical value of AP scan positions correspondingly are compared, can be completely automatic
Obtain the position of the orientation and nipple of this scan image spatially.
It is pointed out that above-mentioned coordinate is the coordinate in physical concept, rather than the coordinate on image.
By the above-mentioned means, according to the horizontal length of the first and second mechanical arms 11 and 12, and first, second, and third
The rotation angle for the first and second mechanical arms 12 that rotation angular encoder 21,22 and 23 measures, and manipulator 13 autobiographies of probe
Angle, obtain manipulator probe 13 relative to its initial physical location displacements.
Above-mentioned calculation is applicable in the zero point value with the first and second rotation of mechanical erection angular encoder 21 and 22 with sweeping
Retouch bed it is parallel in the case of, if under the conditions of not being limited to mechanical erection, being calculated in the following manner.
The first step：Each rotation angular encoder is calibrated, determines that each encoder rotates clockwise or counter-clockwise, rotation
Angular encoder is to be incremented by or successively decrease, and mechanical arm it is parallel with it is scanning bed when, record rotation angular encoder respectively institute for
Value.Then second step is performed.
Second step：Left/right AP positions are scanned, the teat placement in AP orientation is obtained either manually or by image processing method,
At this time：
(1) first mechanical arm 11 relative to initial position coordinate (X1, Y1)：
X1=A*cos (a)-Bsin (a)
Y1=A*sin (a)+Bcos (a)
Wherein,
(X1, Y1)：Relative to the displacement of initial position co-ordinates in 11 times physical spaces of first mechanical arm；
A：The horizontal length of first mechanical arm 11
B：When first mechanical arm 11 is calibrated, at the node of first mechanical arm 11 and second mechanical arm 12, opposite and initial bit
The deviant on coordinate y directions is put, if horizontal alignment, this value is zero.
a：For the first rotation angle：Rotation angle when first mechanical arm 11 is relative to initial position
(2) coordinate (X, Y) of 13 spatially relative spatial co-ordinates of manipulator probe：
X2=D*cos (a)-Esin (a)
Y2=D*sin (a)+Ecos (a)
Wherein：
(X2, Y2)：In physical space, second mechanical arm 12 relative to initial position co-ordinates displacement
D：The horizontal length of second mechanical arm 12；
E：When second mechanical arm 12 is calibrated, second mechanical arm 12 and manipulator probe 13, or three-mechanical arm is (in figure not
Show) node at, opposite with the deviant on initial position co-ordinates y directions, if horizontal alignment, this value is zero.
X=X1+X2*cos (b)-Y2sin (b)
Y=Y1+X2*sin (b)+Y2cos (b)
Wherein：
b：For the second rotation angle：Rotation angle when second mechanical arm 12 is relative to initial position
(X, Y)：Under the effect of the first and second mechanical arms 11 and 12, relative to initial position co-ordinates in nipple physical space
Displacement；
(3) relative rotation angle of the 3rd rotation angular encoder 23 when record this time scans
3rd step：When scanning other bearing images, according to corresponding to the algorithm of second step can obtain scan position at this time
Numerical value, i.e. x coordinate value and y-coordinate value, the numerical value of AP scan positions correspondingly are compared, can be completely automatic
Obtain the position of the orientation and nipple of this scan image spatially
It should be noted that above-mentioned coordinate is the coordinate in physical concept, rather than the coordinate on image.
By the above-mentioned means, according to the length of the first and second mechanical arms 12, and first, second, and third encoder
21,22 and 23, the rotation angle of the first and second mechanical arms 11 and 12 measured, and the angle of manipulator 13 autobiographies of probe, obtain
Displacement to manipulator probe 13 relative to its initial physical location.
Further, processor determines the image that different spatial scans respectively further according to the following formula
Displacement of the nipple image in X-direction and Y direction：
Nipple picture displacement=- (manipulator probe 13 physical displacements/image pixel physics size)
It is pointed out that physical displacement refers to space displacement, manipulator 13 physical displacements of probe, are exactly manipulator probe
13 in physical space relative to nipple physical space initial position displacement.
Nipple picture displacement refers to nipple on the image relative to the displacement of initial position.In other words, nipple image position
Shifting refers in the image scanned relative to the displacement of nipple image initial position.
In other words, processor is long according to the space relative rotation angle of each mechanical arm and the level of each mechanical arm
Degree, obtains manipulator and pops one's head in 13 physical displacements, and the breast for the image that different spatial scans is determined according to above-mentioned formula
Head picture displacement.
In addition, nipple image initial position is demarcated by hand on the image by the nipple in AP positions, therefore, pass through
Such scheme, can obtain nipple picture displacement.
Further, the image that processor obtains breast scanning according to AP positions, demarcates nipple image initial position manually
Put, or known otherwise by automated graphics, identify and demarcate nipple image initial position.
In other embodiments of the invention, since nipple is always in image range, the position of nipple can also be by as follows
Method is automatically positioned：
By the wave filter of image procossing, for example, sombrero wave filter (mexican hat), and Laplce filter
Ripple device (Laplacian) etc., is applied in the coronal image of nearly skin surface, strengthens teat placement picture signal, afterwards
Find out the most strong place of signal.
Alternatively, by supervised learning obtain teat placement patch (patch) and be not teat placement patches come
Deep learning training is carried out, allows neutral net to position nipple.
In addition, above two method can also have measure of supervision replacement by other unsupervised wave filters (filter).
In other embodiments of the invention, further, processor can be additionally used according to nipple image initial position with
And the nipple picture displacement of image that diverse location scans, the image that diverse location scans is spliced, is obtained
The physics overall picture at entire scan position.In this case, more perfect data can more easily be obtained.In addition, processing
Device can also check the physical space that Current Scan moves up and down relative to AP positions according to real-time display schematic diagram is calculated
Displacement and the angle of manipulator 13 autobiographies of probe.In order to the more visual in image position for watching scanning of scanning staff.
Further, processor can also be according to the teat placement (except on AP positions) that scanning staff clicks on manually, oneself
Dynamic aligned spaces coordinate, judges for scan position next time and teat placement judges.
In the present embodiment, first, second, and third rotation angular encoder 21,22 and 23 all passes through same processor
Handled, more specifically, the processor is arranged in cabinet, above-mentioned encoder is connected to cabinet by connecting line, so that
It is connected with processor.However, the present invention is not limited thereto, in other embodiments, each encoder and processor can also be according to need
Will, the function of being otherwise coupled to and realize in the present invention.
It should be noted that all references mentioned in the present invention is incorporated herein by reference, just as every
One document is individually recited as reference.In addition, it should also be understood that, after reading the above teachings of the present invention, this
Field technology personnel can make various changes or modifications the present invention, and such equivalent forms equally fall within right appended by the application will
Seek book limited range.
Also, in claims and specification of this patent, relational terms such as first and second and the like are only
Only it is used for distinguishing one entity or operation from another entity or operation, without necessarily requiring or implying these realities
There are any actual relationship or order between body or operation.Moreover, term " comprising ", "comprising" or its it is any its
He is intended to non-exclusive inclusion by variation, so that process, method, article or equipment including a series of elements are not
Only include those key elements, but also including other elements that are not explicitly listed, or further include for this process, method,
Article or the intrinsic key element of equipment.In the absence of more restrictions, the key element limited by sentence " including one ", and
It is not precluded within the process including the key element, method, article or equipment that also there are other identical element.The power of this patent
In sharp claim and specification, if it is mentioned that perform certain behavior according to certain key element, then refer to perform the row according at least to the key element
For the meaning, which includes two kinds of situations：The behavior is performed according only to the key element and is performed according to the key element and other key elements
The behavior.
Although by referring to some preferred embodiments of the present invention, the present invention is shown and described, this
The those of ordinary skill in field should be understood that can to it, various changes can be made in the form and details, without departing from the present invention
Spirit and scope.
Claims (9)
1. a kind of computer galactophore scanning automation alignment system, it is characterised in that include：Manipulator probe, processor, with
And robot assemblies, the robot assemblies include can rotate horizontally successively connection or be rotatably connected vertically multiple mechanical arms,
Multiple rotation angular encoders, wherein,
A rotation angular encoder is provided between the adjacent mechanical arm of each two, for measuring between described two mechanical arms
Relative rotation angle spatially, and it is sent to the processor；
The manipulator probe is connected with one end of the robot assemblies, for being swept with different locus to breast
Retouch, and give the image transmitting scanned to the processor；
The processor is used to record nipple image initial position, and each the different spaces position popped one's head according to the manipulator
When putting, the space relative rotation angle of corresponding each mechanical arm and the horizontal length of each mechanical arm, determine it is described not
The displacement of the picture position and nipple that isospace position is scanned in the picture.
2. computer galactophore scanning automation alignment system as claimed in claim 1, it is characterised in that the manipulator is visited
The junction of head and the robot assemblies is provided with a rotation angular encoder, opposite for calculating scanning manipulator probe
Relative rotation angle in the end of the mechanical arm of its connection, and gained information is defeated by the processor, also,
During each different spatial that the processor is popped one's head according to the manipulator, the sky of corresponding each mechanical arm
Between relative rotation angle, and manipulator probe relative to its connection mechanical arm end relative rotation angle, determine institute
State the displacement of picture position and nipple that different spatial scans in the picture.
3. computer galactophore scanning automation alignment system as claimed in claim 2, it is characterised in that the mechanical arm group
Part includes：First and second mechanical arms, first, second, and third rotation angular encoder, wherein,
One end of the first mechanical arm is rotatably attached with a fixing piece, and the first rotation angle volume is provided with junction
Code device, the other end of the first mechanical arm and one end of second mechanical arm be rotatably attached, and is provided with junction the
Two rotation angular encoders；
The other end of second mechanical arm is rotatably attached with manipulator probe, and the 3rd angle of rotation is provided with junction
Spend encoder.
4. computer galactophore scanning automation alignment system as claimed in claim 3, it is characterised in that the fixing piece is consolidated
Surely it is arranged on the base plane of the system.
5. the computer galactophore scanning automation alignment system as described in claim 1-4 any bars, it is characterised in that described
Processor is popped one's head in spatially relative to the coordinate of initial position according to manipulator, determines the manipulator probe in different spaces
The nipple picture displacement for the image that position is scanned.
6. computer galactophore scanning automation alignment system as claimed in claim 5, it is characterised in that the processor root
According to the space relative rotation angle of each mechanical arm and the horizontal length of each mechanical arm, manipulator probe physical bit is obtained
Move, and the nipple picture displacement for the image that the different spatial scans is determined according to the following formula：
Nipple picture displacement=- 1 × (manipulator probe physical displacement/image pixel physics size).
7. computer galactophore scanning automation alignment system as claimed in claim 6, it is characterised in that the nipple image
Displacement refers in the image scanned relative to the displacement of the nipple image initial position.
8. computer galactophore scanning automation alignment system as claimed in claim 5, it is characterised in that the processor is also
Nipple picture displacement for the image scanned according to the nipple image initial position and diverse location, to different positions
Put the image that scanning obtains to be spliced, obtain the physics overall picture at entire scan position.
9. the computer galactophore scanning automation alignment system as described in claim 1-4 any bars, it is characterised in that described
The teat placement that processor is clicked on manually according to scanning staff, automatic aligned spaces coordinate, sentences for scan position next time
Disconnected and teat placement judges.
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