CN108095757A

CN108095757A - A kind of hand-held bladder surveys capacitance device and bladder is surveyed and holds implementation method

Info

Publication number: CN108095757A
Application number: CN201711401220.5A
Authority: CN
Inventors: 马宁; 吴翠灵; 江斌; 郑煜春; 蓝尚文; 张世恒; 舒元庆; 陈晓君; 李营营
Original assignee: Shanghai Stride Medical Instruments Ltd By Share Ltd
Current assignee: Shanghai Stride Medical Instruments Ltd By Share Ltd
Priority date: 2017-12-22
Filing date: 2017-12-22
Publication date: 2018-06-01

Abstract

A kind of bladder of the present invention, which is surveyed, holds implementation method, including：Complete machine controls；Scanning probe controls；Ultrasonic signal emission receives control；Ultrasonic imaging, image procossing control；Hardware realization image gradient calculating processing controls；It obtains the critical data of bladder boundary segmentation point simultaneously according to the quick crisperding processing acquisition each cross sectional boundary data of bladder of image gradient value, passes through curve segmentation and the calculating that several bladders are scanned with interface image, the value for each curve that adds up obtains the volume of entire bladder.The hand-held bladder of the present invention surveys capacitance device, selects the fpga chip of dual processors, ensures that drawing the boundary point of bladder and point computing simultaneously measures bladder capacity, probe is integrated with host, small, carries easy to operate.The present invention can painlessly quantitative measurment Bladder Volume, reduce iatrogenic urinary system infection contamination, reduce frequently the pain of plug in conduit, computational accuracy is high, solves erroneous judgement, small, cost-effective, the use of suitable hospital department, home for destitute and house patient.

Description

A kind of hand-held bladder surveys capacitance device and bladder is surveyed and holds implementation method

Technical field

The present invention relates to a kind of technical field of medical equipment detection device, specifically a kind of realization autonomous wing of hand-held The hand-held bladder of Guang volume determination surveys capacitance device and bladder is surveyed and holds implementation method.

Background technology

At present for intravesical urine volume clinical diagnostic modalities except having：Catheterization, percussion and one-dimensional and two-dimensional ultrasound are (non- Quantitative test bladder capacity, the means of residual urine volume) outside, it explores and studies by this 2 years the continuous of research staff, for Since non-quantitative diagnosis bladder capacity can increase the incidence of iatrogenic urinary system infection contamination and seriously affect medical staff couple The monitoring and diagnosis of patient's bladder condition, particularly influence the problems such as the assessment of postoperative bladder function.Therefore develop pair Bladder capacity can carry out real-time easy quantitative measurement device, just can detect whether bladder muscle has atrophy to show earlier As so as to be treated accordingly in time.So quantitative determination bladder capacity and residual urine volume can not only evaluate the life of bladder Function is managed, and therapeutic evaluation can be provided in time during patient treats bladder disease.The bladder that early stage develops in the world Pressure capacity tester be it is a kind of with 3D ultrasonic probes using bladder as the shape of ellipsoid by the way that the long axis of ellipsoid, short axle, depth is obtained Degree carries out the device of bladder urine volume measure according to the cubature formula of ellipsoid, and still, everyone bladder shape is different, bladder Full and not full shape would also vary from, and therefore, the measure meeting pair of bladder urine volume be carried out using single mathematical model The bladder urine volume of most patient measures inaccurate, and such device is for evaluating the physiological function and bladder disease of bladder The evaluation of the effect of therapeutic process can all bring many inaccuracy, affect the correct diagnosis of doctor.In particular with quantitative survey Determine the application range extension of bladder capacity, if control allows in the case that filling of bladder reaches 350ml, be just avoided that the position of internal organs It moves.Achieve the effect that accurate radiotherapy.Therefore the accurate Bladder Volume that measures just can normal tissue damage during pelvic irradiation Small, radiotherapy side effect is substantially reduced, and the effect for the treatment of is significantly improved compared with conventional radiotherapy.For the shortcoming of the device, research Personnel have invented carries out bladder urine volume measurement device (patent of invention number with 3D ultrasonic probes by flap-type superimposing technique：ZL 2012 1 0215960.0), and the technology described in the patent application is solved to measure for the urine volume of different bladder shapes and used The measuring method of single mathematical model establishes the mathematical model of the measurement urine volume of suitable various bladder shapes, this utilization 3D ultrasonic probes carry out bladder urine volume measurement device by flap-type superimposing technique, wherein the capacity in the flap-type superimposing technique proposed Calculation formula (Vn=[0.87 × S (n) × S (n)]/a) is also based on the ellipsoid empirical equation of two orthogonal sections, works as utriform When shape cannot be similar to ellipsoid, error will become larger.And number of patent application is：(2,016 1 0,929,931 9) have proposed this The disadvantage of algorithm：(patent of invention number：0215960.0) ZL 2,012 1 calculates Bladder Volume using tangerine valve integration method, popping one's head in In the case of central shaft is without departing from bladder center, computational accuracy can ensure, if but central shaft deviates bladder center, then calculate Just it is present with more calculation situations when " big tangerine valve ", as shown in figure 14, wherein bladder sections product is S1+S2, but since central shaft deviates, Therefore two pieces of areas of S3 and S4 are had more when calculating, so as to influence entire volume calculations value, error is caused to become larger.If in as shown in Figure 14 Mandrel deviates beyond bladder sections, causes error bigger.Due at present in the world for the 3D ultrasounds of bladder capacity measurement device Probe is stepper motor driven mechanical probe, and axle center will be there is certain deviation, in addition, operation during scanning If person is not placed on the center of patient's bladder by popping one's head in, this measurement error will be very big, therefore to operator's Gimmick requirement is very high.Number of patent application proposes that 12 faces of bladder first are converted into 3D solid moulds for (2,016 1 0,929,931 9) Then type carries out integral operation from top to bottom, although the bladder capacity so calculated influences from bladder shape, calculating During each integration face, using formula, wherein The formula calculates the area of each small covering of the fan using fan-shaped area formula (central angle is 15 °, radius Ri)But this computational methods are suitable for situation of the central shaft inside all cross section areas (even if central shaft is inclined Error will not occur in the calculating for moving capacity), but when central shaft is appeared in outside cross section area, as shown in fig. 15, section 1 It has deviated from the outside of central shaft, if at this time calculating again, is just present with very big error, as shown in fig. 15b, section 1 exists Diagram hatched area can mostly be calculated during calculating, when central shaft deviation is bigger, calculation error is also bigger.Therefore the algorithm pair The gimmick requirement of operator is also higher.

It is extended in particular with the application range of quantitative determination bladder capacity, as control allows filling of bladder to reach 350ml In the case of, just it is avoided that the displacement of internal organs.Achieve the effect that accurate radiotherapy.Therefore accurately measure, mistake survey Bladder Volume is avoided to exist Just the damage of energy normal tissue is small during pelvic irradiation, and radiotherapy side effect is substantially reduced, and the effect for the treatment of is bright compared with conventional radiotherapy Aobvious raising etc..

Patent of invention number：ZL 2,012 1 0215960.0 and number of patent application all do not have in being 2,016 1 0,929,931 9 Wifi wireless image transmitting functions, number of patent application only only has Bluetooth function in being 2,016 1 0,929,931 9, due to bluetooth Transmission information is to carry out Wireless transceiver by serial ports, and transfer rate is very slow, it is impossible to realize real-time bladder image transmission.For It is at present and home for destitute lives and bladder need to be used to survey the patient of looks, refer to except medical staff is needed to carry out rehabilitation to it Outside leading, medical staff also needs to know real-time bladder scan image, how to realize the rehabilitation that this some patients is in Guidance and remote diagnosis bladder disease are to need our urgent problems.

Generally in scan picture, the edge detection that object is carried out with Sobel operators is commonly used algorithm, such as Fig. 3.Algorithm is after gathering bladder section ultrasound information and forming ultrasonoscopy, to make used by head of bladder capacity measuring device at present With the method for pure software, then detection bladder edge calculates bladder modeling using section, obtains bladder capacity value.This The shortcomings that kind pure software algorithm is that calculating must just be started after the ultrasonoscopy of entire bladder section is obtained, and calculation amount is non- Often huge, the resolution ratio of image is bigger, calculation amount then bigger, therefore it is very slow to obtain bladder capacity result speed.It is clear that This method that bladder marginal value is calculated with software constrains quick detection Bladder Volume value.How quickly to obtain in a device The marginal value of bladder is also our urgent problems.

In addition, the head of bladder capacity measuring device of Hospitals at Present Clinical practice is largely required for instrument being mounted on cart, And probe and instrument are connected as a single entity by one 2 meters of conducting wire, instrument is easily broken during movement and use, in operation Also it is inconvenient.

In addition, for be at present and home for destitute live need to use bladder survey looks patient, using host and probe point From instrument one be use when it is extremely inconvenient, second is that cost is also higher.

The content of the invention

For in the prior art to the measure of bladder capacity due to surveying there are problem in computational accuracy and by mistake, and for Operator's gimmick is more demanding, although the head of bladder capacity measuring device to come out below has in the requirement of computational accuracy and operation technique It is improved, but all, due to the presence of these problems, will result in there is big and small different problems：Either for commenting The evaluation of the effect of physiological function of valency bladder and the therapeutic process of bladder disease can all bring many inaccuracy, affect doctor Monitoring and correct diagnosis.Particularly to some specific medical demands since these problems cause the somatic damage of patient, doctor Treatment demand can not meet.

Further, on the basis of above-mentioned technical problem, the present invention is using ultrasonic imaging philosophy and technique, with 3D Ultrasonic probe obtains 12 images, and the boundary point of bladder is drawn using one side, while the technology for carrying out point computing carries out wing Guang solid measure；The problem of bladder peripheral speed is slow is detected for the method for pure software, invention is a kind of to be realized using FPGA hardware For accelerating the modified Sobel algorithms of bladder capacity result of calculation, ultrasonoscopy is obtained simultaneously obtaining ultrasonic imaging matrix Gradient value matrix, and use software approach combination image and gradient, be quickly obtained bladder result of calculation；The present invention will probe and Host integration, hand-held bladder analyzer (light-weight) are moved easily, and clinical use is simply, conveniently, safely, of the invention Voice recording and playing function are added, patient's metrical information is protected using phonetic entry+ultrasonoscopy+Bladder Volume value It deposits, also with touch-screen client is facilitated to input customer information in extra small hand-held bladder analyzer；The present invention is using wirelessly Wifi tranmission techniques and establishment cell phone application software, in real time transmit bladder scanning information and bladder scan image in one's hands in real time It is by by the cell phone application of research and development and computer client, the essential information of patient and the real-time image information of scanning is real on machine When, be quickly uploaded to internet platform.Obtain long-range rehabilitation guidance and the diagnosis of long-range bladder disease.Present invention dress It puts and its implementation.

In order to solve the above technical problems, the technical solution adopted by the present invention is：

A kind of bladder, which is surveyed, holds implementation method, wherein, comprise the following steps：

Complete machine controls：According to different request functions, different coordination complete machines is sent by FPGA main processing controllers and is worked Serial control instruction and signal, the orderly work of management each component of complete machine；

Scanning probe controls：It is instructed according to FPGA main processing controllers, generating the drive signal of 3D probes carries out probe Scanning and rotation；

Ultrasonic signal emission receives control：FPGA main processing controllers output transmitting pulse control signal emits electricity to popping one's head in Road and probe receiving circuit, the ultrasonic electric signal received are amplified after processing, A/D are sent to generate ultrasonic digital letter after converting Number image processor is sent to be handled；

Ultrasonic imaging, image procossing and gradient calculating processing：According to the instruction of FPGA main processing controllers, ultrasonic number is received Word signal carries out digital scan conversion according to corresponding scan mode, ultrasonic signal is carried out during digital scan conversion Processing is allowed to be transformed into the picture signal of display, is carried out at the same time image gradient calculating；

Quick crisperding computing：According to the instruction of FPGA main processing controllers and the Grad of image, to bladder image into The quick crisperding computing of row, while obtain the crisperding data of bladder and the critical data of bladder boundary segmentation point；

Bladder Volume calculates：According to the instruction of FPGA main processing controllers and crisperding data and bladder boundary segmentation point Critical data while draw boundary point, carry out point operation method progress volume calculations on one side.

The present invention also provides a kind of hand-held bladders to survey capacitance device, including：

FPGA main processing controllers, the FPGA control processors receive the different button requests of touch-screen, according to not Same button request function, sends the serial control instruction and signal of different coordination complete machine work, and management each component of complete machine has The work of sequence；

Complete machine controls：Complete machine control is used based on FPGA programmable logic device, at the central control supplemented by arm processor Manage device：

Probe drives, and the probe driving, the drive signal for generating 3D probes makes probe swing and rotate；

Probe transmitting, the probe transmitting are that phase is made in the transmitting pulse for the corresponding pulsewidth for receiving main processing controller generation Probe chip is sent to after the amplification answered；

Probe receives, and the probe, which receives, includes preamplifier and A/D conversion circuits, and the preamplifier will receive The ultrasonic electric signal come to the probe chip transmission gives the A/D conversion circuits and is transformed into ultrasonic number after being amplified processing Word signal send image processor to be handled；

Ultrasonic imaging, image processor：Described image processor receives digitized ultrasonic signal, according to corresponding scanning Mode carries out digital scan conversion and ultrasonic signal processing, is allowed to be transformed into B that is can showing and meeting bladder capacity test Super picture signal；

Gradient computation processor：The gradient computation processor carries out interpolation calculation with interpolation method to gradient matrix, if Gradient thresholding is put, the gradient matrix finally obtained is exactly the entire image gradient after last ultrasonic imaging, meets quick bladder ditch Side calculates requirement；

NiosII-CPU1 processors are quick crisperding processor：The quick crisperding processor is according to FPGA main controls The instruction of processor and the Grad of image can carry out quick crisperding computing to bladder image, while obtain the crisperding number of bladder According to the critical data with bladder boundary segmentation point；

NiosII-CPU2 processors are volume calculations processor：The volume calculations processor according to FPGA main controls at The instruction of reason device and crisperding data and the critical data of bladder boundary segmentation point draw boundary point according to one side, while carrying out Point operation method calculates Bladder Volume；

Arm processor：The arm processor is kept in communication as the pilot controller and FPGA master controllers of device, root According to the order that FPGA master controllers are sent, arm processor also sends different instruction control：Time management, power management, USB Interface, SD card memory, speech chip, wifi module are worked in order；

Wherein, FPGA master controllers FPGA main processing controllers portion and ultrasonic imaging, image procossing and ladder in the chip Spend computation processor connection；The signal of the probe is connected through receiving circuit of popping one's head in image processor and gradient computation processor； The control signal output of the FPGA main processing controllers is also connected to probe radiating circuit respectively and probe driving circuit, probe connect Receive circuit；Receiving circuit of popping one's head in includes signal pre-amplification circuit and A/D conversion circuits, and signal pre-amplification circuit is connected to spy Head, the output of signal pre-amplification circuit are connected to the analog input end of A/D conversion circuits, the digital quantity of A/D conversion circuits Output terminal is connected with the input terminal of ultrasonic imaging, image procossing and gradient computation processor, and FPGA main processing controllers pass through string It is connected with parallel port with arm processor；

The shell of hand-held is further included, foregoing component all in the hand-held outer case, install by the probe On the shell of the hand-held.

More specifically in detail, technical solution of the invention can be following content：

A kind of hand-held bladder of the present invention, which is surveyed, holds implementation method, comprises the following steps：

Instrument starts：After the power is turned on, arm processor starts instrument first, sends instruction by parallel port (FSMC), FPGA can be compiled After journey logical device receives instruction, the orderly control sequential of complete machine work is sent.

Complete machine controls：Complete machine control is used based on FPGA programmable logic device, at the master ＆ slave control supplemented by arm processor Device is managed, according to different request functions, serial control instruction and the letter that different coordination complete machines works are sent by control processor Number, the orderly work of management each component of complete machine；

Scanning probe controls：Instruction is sent according to main processing controller FPGA programmable logic device, generates 3D probes Drive signal makes probe be scanned and rotate.

Ultrasonic signal emission receives control：Main processing controller FPGA programmable logic device output pulse control signal is extremely Radiating circuit pop one's head in probe receiving circuit, radiating circuit generates a series of orderly transmitting after receiving emissioning controling signal Pulse, while receive pre-amplification circuit and the ultrasonic electric signal received is amplified after processing to that A/D is sent to be generated after converting is super Sound digital signal send ultrasonic imaging, image processor to carry out being processed into picture.

Ultrasonic imaging, image processor：According to the instruction of main processing controller FPGA programmable logic device, number is received The ultrasonic signal of change carries out digital scan conversion and ultrasonic signal processing according to corresponding scan mode, and being allowed to be transformed into can be with B ultrasound picture signal that is showing and meeting bladder capacity test.

Gradient computation processor：According to the instruction of main processing controller FPGA programmable logic device, it is each that image is obtained A sampled point is horizontal with vertical Grad, and the ultrasound data matrix and ultrasonic imaging matrix formed due to sampled point has one by one Corresponding interpolation relation carries out gradient matrix interpolation calculation with identical interpolation method, and the gradient matrix of acquisition is exactly last Entire image gradient after ultrasonic imaging.In the software processing calculated in follow-up Bladder Volume, contrast echo image and ultrasound are schemed As gradient, the edge of bladder can be soon sketched the contours of, calculation amount is greatly reduced, improves calculating speed.

Bladder Volume calculates：According to the instruction of main processing controller FPGA programmable logic device, by the real-time B ultrasound of acquisition Image level gradient and vertical gradient value carry out quick crisperding calculation process, while obtain the data boundary and bladder of bladder The critical data of boundary segmentation point according to this data, while drawing boundary point, while carrying out point computing, most owns at last Dot product partial volume addition just obtained Bladder Volume value.The method of this new calculating bladder capacity and existing patent are calculated Method is different, and the advantage of the algorithm is：1, due to being that point-by-point integration computing rather than modeling computing are carried out to the border of bladder, because This from bladder shape influence.2, be not in the situation that central shaft deviates bladder section.Patent No. number of patent application be for Why the algorithm of (2,016 1 0,929,931 9) is present with such case, is because the algorithm is first to establish threedimensional model, so Section calculates from top to bottom again afterwards, if the central shaft of threedimensional model deviates, thus can inevitably run into during section appears in The situation of mandrel outer.And the algorithm of this paper only needs central shaft to fall in bladder section inside, is so greatly lowered The difficulty of operator's gimmick.Since this real-time calculation needs the hardware condition of high speed to support, in addition, in order to improve Calculating speed, we have built dual core processor inside FPGA.In design, we use the SOPC Builder of NiosII Double-core is built, as shown in Figure 4.2 processors NiosII-CPU1 and NiosII-CPU2 are added in SOPC Builder, respectively Timer timer is added for each processor, hardware mutual exclusion core mutex, sdram controller, program storage are added in for system EPCS, debugging interface jtag_uart etc. finally adds other necessary components again.Wherein, the effect of hardware mutual exclusion core mutex It is to ensure that multiple processors will not be clashed when accessing memory.NiosII-CPU1, can be to wing according to the Grad of image Guang image carries out quick crisperding computing, while obtains the data boundary of bladder and the critical data of bladder boundary segmentation point, The data are also sent in internal sdram memory by NiosII-CPU1, and then NiosII-CPU2 reads logarithm after SDRAM data According to point is carried out, volumetric values are sent to SDRAM, NiosII-CPU1 takes by synthesis volumetric values after the completion of 12 width images calculate Go out volumetric values and show.NiosII-CPU1 (quick crisperding) and NiosII-CPU2 (volume calculations) workflow are as shown in Figure 5.

The drive signal for generating 3D probes makes that probe is scanned and rotation comprises the following steps：

The underlying stepper motor for starting to pop one's head in during scanning is fixed on the initial position of scanning range, above puts stepper motor and is advising Determine to swing back and forth in angular range, obtain the ultrasonoscopy in the 1st section；

Underlying stepper motor rotates predetermined angular, fixed；

On put stepper motor and swing back and forth again in the range of predetermined angular, obtain the ultrasonoscopy in the 2nd section；

And so on, until underlying stepper motor turns to final position, stepper motor is above put in the range of predetermined angular It swings back and forth and obtains the ultrasonoscopy in the n-th section, stop.

The ultrasonic signal processing is included to the average of ultrasonic signal, enhancing, correlation, Gamma correction, number amplification, logarithm A series of processing such as compression, detection, the smooth interpolation of image, filtering, band logical, edge detection, edge gradient calculating；

The digital scan conversion is exactly the B for the scan mode that the information of the scan mode acquisition of B ultrasound is converted into display Super image information, that is, scientific name is digital scan convertor, and general ultrasonic imaging processing is using first by image according to the direction of scanning Be stored as the image of rectangle, ultrasonoscopy be then reduced to sector by the image stored by polar algorithm, it is this into Image space method makes the information of original image have loss, the method that we use be during image is stored just by image procossing for Fan-shaped image and Variable sampling pulse storage and reading, this method make image information loss small, and image is fine and smooth clear；

The gradient, which calculates, first has little significance to image border enhancing first sampling line and last root sampling line, Its gradient is arranged to 0 by us.First sampled point and the last one sampled point for sampling line enhance meaning not to image border Greatly, its gradient is also arranged to 0 by us.Thus, during we realize that gradient calculates, the data of 2 sampling lines are preserved first, When the 3rd sampling line starts sampling, since the 3rd sampled point, we can calculate the 2nd sampled point of the 2nd line Horizontal gradient and vertical gradient.And so on.First sampling line and last root sample line to last general image gradient not Greatly, its gradient is arranged to 0 by us.Horizontal gradient is implemented to calculate with vertical gradient calculating as shown in Figure 6.Obtain horizontal ladder After degree and vertical gradient, it would be desirable to carry out quadratic sum extraction of square root computing, quadratic sum extraction of square root computing very elapsed time, FPGA Realization, which is advantageous in that we can live by inquiry table, must calculate as a result, almost without delay, greatly reduce software The time of realization.The horizontal and vertical Grad of each sampled point of image is obtained, implements step：

(1) gradient matrix is sought：One frame ultrasound original image longitudinally samples 400 points, 201 lines is laterally sampled, such as Fig. 7 institutes Show, we obtain the raw ultrasound data matrix that a size is 400*201.Assuming that it (hangs down in (horizontal direction) y root emission lines Nogata to) x-th point of sampled value is z_{(x, y)}, using Sohel operators as shown in Figure 8 as x directions (vertical direction) gradient Operator and y directions (horizontal direction) gradient operator.When doing gradient calculating to 400*201 regions using Sobel operators, can must mark It is denoted as z_{(x, y)}Sampled point x direction gradients G_xWith the gradient G in y directions_yComponent is respectively：

G_x=(z_{(x+1, y-1)}+2*z_{(x+1, y)}+z_{(x+1, y+1)})-(z_{(x-1, y-1)}+2*z_{(x-1, y)}+z_{(x-1, y+1)})

G_y=(z_{(x-1, y+1)}+2*z_{(x, y+1)}+z_{(x+1, y+1)})-(z_{(x-1, y-1)}+2*z_{(x, y-1})+z_{(x+1, y-1)})

Labeled as z_{(x, y)}The calculation formula of gradient of sampled point be

(2) in threshold processing, using basic global threshold：When the Grad of certain pixel (x, y)It is more than or waits , it is specified that the gray value of the point is 255 when the thresholding T set, it is on the contrary then for 0.I.e.：

After one two field picture samples, we can be obtained by the ultrasound data matrix of 400*201 and the gradient of 400*201 Data matrix.After hardware interpolation processing comes out, we can obtain a frame ultrasonoscopy number for image data and gradient data According to matrix 400*500 and image gradient data matrix 400*500.As shown in Figure 9.

As shown from the above formula, ask a sampled point Grad only need carry out 4 shift operations, 8 sub-additions, 2 times Subtraction, 2 square operations, 1 extraction of square root computing.For FPGA, plus and minus calculation speed is very fast, square operation and Look-up table realization may be employed in extraction of square root computing, as shown in Figure 10.Because it is realized faster than software in calculating speed.Due to me Be that data before imaging carry out edge enhancing, calculation amount reduces more, thus the speed realized is faster.

A kind of method of new calculating bladder capacity is different with existing proprietary algorithms, which is to utilize ultrasound Principles ＆ Technique of Imaging, 12 images are obtained with 3D ultrasonic probes, and boundary point is drawn using one side, while carrying out dot product partite transport Calculation method calculates Bladder Volume and comprises the following steps：

1) first, according to bladder scanning cross-section image border be segmented key point by bladder right side graph be divided into L1, L2, L3、L4、L5.As shown in figure 11.

2) calculate the integrating system in a face in the integrated value of each section of curve respectively, now exemplified by L1 sections, L1 curves by Point p₀p₁p₂…p_nIt forms (such as Figure 12), wherein each putting corresponding area value and being(such as Figure 13), wherein Tan15 ° of * i is the length of every line segment, is added as area value.

3) the corresponding area value of L1 sections of all the points is added as L1 sections of corresponding bulking values,Similarly Method obtains V_L2、V_L3、V_L4、V_L5.Positive negative judgement (see Figure 11) is carried out to bulking value (in central shaft most further according to segmentation key point Below low spot A points, if it is negative that curve, which is downward trend, ascendant trend is just.Be in peak B point more than ascendant trends it is negative, under Drop trend is just, and trend is just between AB), then bulking value V1 on the right side of image_{It is right}=-V_L1+V_L2+V_L3+V_L4-V_L5.Similarly calculate again Volumetric values V1 on the left of image_{It is left}, then the corresponding volumetric values of piece image are V1=V1_{It is left}+V1_{It is right}。

4) calculating steric bulk (i.e. bladder capacity) formula that 12 faces combine is Wherein index is the ratio of bladder sections actual size and picture size.

The invention makes Bladder Volume measurement not only breach single shape mathematical model, also solves flap-type superposition and surveys looks The problem of volume caused by distortion is calculated more also solves and is gone out by 3D imagings by ultrasonic depth superposition survey looks central shaft The problem of volume caused by outside present cross section area is calculated more, so as to the measurement accuracy of basic assurance Bladder Volume value.

The present invention is that a kind of hand-held bladder survey capacitance device includes arm processor, double-core (double NiosII-CPU systems) FPGA programmable logic device (contains main processing controller, ultrasonic imaging, image processor, gradient calculating processing in device Device), probe radiating circuit, probe driving circuit and probe receiving circuit, wherein control processor is by FPGA programmable logic Device and arm processor composition, the control output end of FPGA main processing controllers drive respectively with probe radiating circuit and probe Circuit is connected, pop one's head in radiating circuit and probe driving circuit and probe connection, the probe are simultaneously through receiving circuit and the ultrasound of popping one's head in Imaging, image processor and gradient computation processor are connected, ultrasonic imaging, image processor and gradient computation processor also and frame Memory, video memory and video memory connection, FPGA main processing controllers are also connected with video memory and video memory, FPGA master controls Processor processed is connected by serial ports with parallel port with arm processor, FPGA main processing controllers also and liquid crystal display；Bluetooth；It presses Key；Touch-screen connects and object all in instrument is complete in a hand-held shell (containing probe).

The probe receiving circuit includes signal and receives pre-amplification circuit and A/D conversion circuits, receives preposition amplification electricity Road is connected to probe, and the output for receiving pre-amplification circuit is connected to the analog input end of A/D conversion circuits, A/D conversion circuits Digital output end be connected with the input terminal of image processor, receive pre-amplification circuit and A/D conversion circuits and be connected to FPGA The control signal of main processing controller.

The display signal output part of the FPGA main processing controllers is connected with liquid crystal display.

The FPGA main processing controllers pass through serial ports and bluetooth connection, wireless control printer printing patient information.

The FPGA main processing controllers are connected with button, touch-screen, receive the request signal of button and touch-screen, according to Different requests generates corresponding control sequential.

The FPGA main processing controllers and video memory, video memory and Memory linkage, video memory are FPGA master controls It is stored during processor and arm processor communication processed to the image information and upload host computer of SD card or the figure by wifi transmission Picture and chart-information, video memory and memory storage are that FPGA control processors are output to the information of liquid crystal display (including image And all information beyond image) and program operation process needed for memory space.

The FPGA main processing controllers are also connected with frame memory, control ultrasonic imaging, image processor and gradiometer It calculates processor and is stored in frame memory by ultrasound image information is scanned.

The FPGA main processing controllers are connected with arm processor, assist controller of the arm processor as instrument, will The time and information about power for controlling management send FPGA control processors to by serial ports (UART) and are shown, arm processor Image information and icon information that FPGA control processors send are received by parallel port (FSMC) and are deposited into SD card.FPGA is controlled Order transmission between processor and arm processor processed is carried out by serial ports (UART).

The arm processor Connection Time management circuit, electric power management circuit, speech chip, SD card, usb circuit And wifi module.Time management Circuit management time modification and setting, the electricity of electric power management circuit management power supply and charging, The information of speech chip managing patient is recorded and played, SD card can store substantial amounts of patient information, usb circuit as memory Patient information can be transferred to host computer, wifi module can be in one's hands by patient information (including real-time ultrasound scan images) transmission On machine or host computer, while mobile phone can be used as host, and wireless control probe is scanned, stores patient information, checks 12 width The functions such as scan image.

The invention has the advantages that and advantage：

1. the accurate quantification of painless carry out Bladder Volume can be facilitated to measure and by the measure of Bladder Volume for more extensively Field.The present invention draws boundary point using one side, while carrying out the algorithm that point carries out bladder capacity measure, avoids machine The tool probe calculation error that the off-center axle center of image is brought in scanning process；And operator causes to scheme in operation The calculation error brought as off-center axle center；Also avoid central shaft appear in cross section area external belt come calculation error and It surveys by mistake；So that the precision of measurement is more accurate, the requirement harsh to operator's gimmick is changed；It is most important to be that of avoiding even wrong Test result ratio only has 1% by mistake, but thus caused study and judge with diagnostic error may be nothing to the injury that patient brings What method was retrieved, as tumour radiotherapy in, as influencing target in deformable target organ in carcinoma of urinary bladder or uterine neck/cervix cancer All there is certain variation between every interval procedure in the vitals of zone position, bladder volume and its repeatability.The change of bladder volume The movement of target position can be caused by changing, so as to influence in target and the distribution of peripheral organs dosage.To reduce this influence as far as possible, often Definite bladder volume must be kept before secondary radiotherapy.How to control allow filling of bladder reach 350ml in the case of pelvic irradiation just It is avoided that the displacement of internal organs, therefore the accurate Bladder Volume that measures is small with regard to energy normal tissue damage during pelvic irradiation, Achieve the effect that accurate radiotherapy；In addition spinal cord injury is a kind of severe trauma, and there are about 10 Wan Xinfa patients every year in the whole world.Neural source Property bladder be common vesical dysfunction after spinal cord injury, mostly control the maincenter of bladder or peripheral nerve that damage occurs and causes Urination disorder, urinary tract infections, ureteral vesicoureteral reflux, renal failure can be caused when serious, be paraplegia after spinal cord injury suffer from First reason of person's late mortality.Therefore, urinary infection is controlled or eliminated, establishes the automatic micturition rhythm and pace of moving things, is reduced in bladder Pressure protects renal function, is the final purpose for treating paralytic patient neurogenic bladder.Domestic and international expert unanimously thinks, applies It is most effective treatment side that bladder scanner, which instructs interrupted catheterization art to carry out rehabilitation nursing and training to neurogenic bladder patients, Method；In addition if postoperative patient is in the normal time self retaining catheter of peri-operation period.Clinically, after catheter is pulled out, patient When there is urinary hesitancy, especially long term indwelling catheter patient to kill urethra film due to urinary catheter stimulation cause inflammatory reaction and water It is swollen, cause the change of wing moon bright fullness sensation or lasting time of indwelling catheter is long that detrusor urinae of bladder tension is caused the reasons such as to disappear.Urine storage Stay incidence significantly raised.And self retaining catheter may cause urethra local damage again, increase the pain of patient and urinary tract sense The chance of dye, accordingly, it is determined that residual urine volume is to the complete assessment side of one kind of those patients under a cloud for having a retention of urine Method.The urinary incontinence, the retention of urine and urinary tract infections are also the most common disease of old man, accurately quantitative determine the remnants after controlled micturition Urine volume, medical staff is correctly monitored and diagnosed bladder condition and assessment bladder function has accurate quantitative basis, changes Originally the assessment for being particularly postoperative bladder function receives and seriously affects this deficiency.

Injury of the erroneous judgement to patient is surveyed by mistake 2. eliminating, while reduces patient suffering.It can be right using apparatus of the present invention and method The patient of urethral catheterization is needed to carry out quantitative urethral catheterization, changes original open urethral catheterization or by the urine storage sensation of patient and medical staff Experience carrys out urethral catheterization, so as to reduce iatrogenic urinary system infection contamination, reduces frequently the pain of plug in conduit.It is further, since of the invention Requirement for operator's gimmick is not harsh, therefore except that can meet the needs of pelvic irradiation process in measurement accuracy, most closes Being that of avoiding for key is missed caused by survey is judged by accident in damage of the Patients During Radiotherapy to human body viscera, makes pelvic irradiation in the process can be fine Control filling of bladder, reach accurate radiotherapy, reduce damage of the Patients During Radiotherapy to patient's normal structure, and make radiotherapy anti- It should be substantially reduced, hence it is evident that the effect of improving radiotherapy reduces patient due to a series of pains that conventional radiotherapy is brought and internal organs damage Wound.

3. quick and precisely detecting Bladder Volume value, medical staff's working efficiency is improved, is used due to being realized using FPGA hardware In the modified Sobel algorithms for accelerating bladder capacity result of calculation, ultrasonoscopy is obtained simultaneously obtaining ultrasonic imaging matrix Gradient value matrix, and software approach combination image and gradient are used, it is quickly obtained bladder result of calculation.

4. wireless wifi tranmission techniques, can be in one's hands by bladder scanning information and the transmission of real-time bladder scan image in real time It is by by the cell phone application of research and development and computer client, the essential information of patient and the real-time image information of scanning is real on machine When, be quickly uploaded to internet platform.For patient in addition to obtaining long-range rehabilitation guidance, doctor can be according to the real-time of tracking Scan image and information carry out the diagnosis of long-range bladder disease.

5. hand-held bladder instrument (host and probe one), small, light-weight, it is convenient for carrying, is moved easily, be not required to push away Vehicle, solving needs conducting wire mobile inconvenient caused by connecting between traditional host and probe, inconvenient for operation, and probe is moving The problems such as easily being dropped during dynamic and operation.Bladder instrument is put into pocket by medical staff just can descend ward, into operating room or Emergency ward, operation are also extremely convenient.In order to realize the global design and device of host and the probe integration present invention in instrument The considerations of detailed careful, has all been done in selection, selects the FPGA programmable logic chips of forth generation, small, function is complete, double NiosII-CPU.In a device using two controller concurrent workings, remove some interface chips, space is made to become compact.This Invention adds voice recording and playing function, using phonetic entry+patient information+ultrasonoscopy+Bladder Volume value to patient Metrical information is preserved, and also with touch-screen client is facilitated to input customer information in extra small hand-held bladder analyzer； Since device realizes that hardware calculates image gradient value, crisperding arithmetic speed is made to get a promotion, ensure that the present apparatus realizes at present The boundary point of bladder is exclusively drawn using one side in the world, while carrying out point computing carries out bladder capacity measure, is made Computational accuracy and erroneous judgement obtain radical change to greatest extent.

Description of the drawings

Fig. 1 surveys capacitance device structure diagram for bladder of the present invention；

Fig. 2 surveys appearance method control flow chart for bladder of the present invention；

Fig. 3 is Sobel edge detection algorithms block diagram of the present invention；

The SOPC Builder that Fig. 4 is NiosII of the present invention build double-core schematic diagram；

Fig. 5 is NiosII-CPU1 of the present invention (quick crisperding) and NiosII-CPU2 (volume calculations) work flow diagram；

Fig. 6 calculates schematic diagram for sampled point horizontal gradient of the present invention and vertical gradient；

Fig. 7 is ultrasound cross-section of the present invention sampling signal；

Fig. 8 is the 3X3 regions (Z is gray value) of piece image of the present invention and Sobel operator schematic diagrames；

Fig. 9 enhances block diagram for the improved image border of the present invention；

Figure 10 is gradient inquiry table computing block diagram of the present invention；

Figure 11 draws stepwise schematic views for bladder right side graph of the present invention；

Figure 12 is every section of curve of the invention by point p₀p₁p₂…p_nComposition schematic diagram；

Figure 13 is the integration schematic diagram for each putting a corresponding face of every section of curve of the invention；

Figure 14 deviates for existing big tangerine valve algorithm central shaft but the error schematic diagram also in bladder section；

Figure 15 A and Figure 15 B are offset to error schematic diagram outside bladder section for existing 3D imaging algorithms central shaft；

Figure 16 is puts stepper motor and underlying stepper motor takes 12 width image-driven timing charts in the present invention；

Figure 17 for the present invention on put stepper motor be driven forward timing chart；

Figure 18 for the present invention on put stepper motor be driven reverse timing chart.

Specific embodiment

In order to which the technical features, objects and effects to the present invention are more clearly understood, with reference to Figure of description The present invention is further elaborated.

In preferred embodiment, as shown in Figure 1, bladder of the present invention survey, which contains, is set to hand-held (probe and host are integrated) Equipment, including fpga chip, (chip includes FPGA main processing controllers, ultrasonic imaging, image processor and gradiometer Calculate processor, NiosII-CPU1, NiosII-CPU2), arm processor, probe radiating circuit and probe driving circuit, frame deposit Reservoir, video memory, video memory and memory, probe receiving circuit include receiving pre-amplification circuit and A/D conversion circuits.It should Portion connects FPGA main processing controllers with ultrasonic imaging, image procossing and gradient computation processor in the chip；The letter of the probe Number through pop one's head in receiving circuit be connected with ultrasonic imaging, image processor and gradient computation processor；The FPGA main processing controllers Control signal output be also connected to respectively probe radiating circuit and probe driving circuit, probe receiving circuit；Probe receives electricity Road includes signal pre-amplification circuit and A/D conversion circuits, and signal pre-amplification circuit is connected to probe, signal pre-amplification circuit Output be connected to the analog input ends of A/D conversion circuits, digital output end and ultrasonic imaging, the figure of A/D conversion circuits The input terminal of picture processing and gradient computation processor is connected, and the control signal of the FPGA main processing controllers is also connected to frame and deposits respectively Reservoir, video memory, video memory and memory, arm processor, SD card interface circuit and SD card, blue tooth interface circuit.Ultrasound into Picture, image procossing and gradient computation processor are connected to frame memory, video memory, video memory and memory；Ultrasound information first by Ultrasonic imaging, image procossing and gradient computation processor carry out image after receiving the ultrasonic digital signal of A/D conversion circuits output Processing and digital scan conversion form the complete ultrasonoscopy of a width and the image gradient data of progress gradient calculating are deposited together Enter into FPGA internal storages, while complete ultrasonoscopy will also store frame memory, video memory, video memory and interior In depositing.The ultrasonoscopy and image gradient data stored in FPGA internal storages is to NiosII-CPU1, NiosII- CPU2 dual core processors progress limes marginis determines and volume calculations are used.NiosII-CPU1, NiosII-CPU2 dual core processor connects Receive ultrasonic imaging, the ultrasonoscopy matrix of image processor and the submitting of gradient computation processor and image gradient matrix and volume After the traffic flow information of computation requests, dual core processor NiosII-CPU1 is carried out to bladder image at quick crisperding computing After reason, the critical data of crisperding data and bladder scanning cross-section image boundary waypoint is sent into internal sdram memory, then NiosII-CPU2 carries out point after reading internal SDRAM data to data, the synthesis volume after the completion of 12 width images calculate Volumetric values are sent to internal SDRAM by value, and NiosII-CPU1 takes out volumetric values and shows.The control of FPGA main processing controllers Signal connection video memory be FPGA control processors and arm processor communication need store patient personal information, The information such as image information, measurement result and icon information.The video memory and interior of the control signal connection of FPGA main processing controllers Deposit is personal information, image information, measurement result and icon information that iatron needs patient to be shown etc..Image is deposited In reservoir, video memory and memory image information write-in by ultrasonic imaging, image procossing and gradient computation processor write, read by FPGA main processing controllers control.

Arm processor (pilot controller) and SD card, wifi module, power management, USB interface, time management, voice core Piece connects；Arm processor is connected by serial ports with parallel port with FPGA control processors.Arm processor and FPGA control processors Between order be to be communicated by serial ports (UART), it is logical that arm processor receives FPGA control processors (master controller) Cross the corresponding control signal sent：Arm processor control time management information and power management message are sent by serial ports (UART) It is shown to FPGA control processors；Information is uploaded host computer by arm processor control USB interface；Arm processor controls language Sound chip is recorded and the information of recording is stored into SD card or played；Arm processor is controlled FPGA main processing controllers simultaneously Personal information, image information, measurement result and icon information of patient that mouth is sent etc. is deposited into SD card；；Arm processor Personal information, image information, the measurement result of patient in the either SD card that FPGA control processors parallel port is sent in control And icon information etc. is sent to by wifi module on mobile phone or computer.

Apparatus of the present invention also have liquid crystal display driving, which sends out the data message warp that display screen is shown Liquid crystal display drive circuit is sent to liquid crystal display and shows.

Apparatus of the present invention also have power interface plate, and lithium battery provides power supply energy by the interface board to complete machine.

Apparatus of the present invention also have electric source switch board, and whether which connects equipped with power switch button control power interface plate Power of the whole machine, in addition the plate be also equipped with wifi module.

Apparatus of the present invention also have probe driving plate, control the motor rotation of probe.

Apparatus of the present invention FPGA control processors are further connected with key-press module, touch-screen, bluetooth module.Key-press module is equipped with and presses Key, as an interactive part；Touch-screen is as input patient information medium and an interactive part；Pass through Bluetooth module wireless control printer carries out printing patient information and report.

In the present embodiment, which uses STM32F429 chips, on the mainboard M-1 V1.0 of host. (chip includes FPGA control processors, ultrasonic imaging, image procossing and gradient computation processor, NiosII- to fpga chip CPU1, NiosII-CPU2) using ALTERA companies large capacity, the FPGA programmable logic device of low-power consumption, it is also mounted at host Mainboard M-1 V1.0 on.Before bluetooth module, speech chip, power management, time management, SD card, key-press module, probe receive Amplifier, high-speed a/d conversion circuit, frame memory, video memory, video memory and memory are put on mainboard M-1 V 1.0. USB output interfaces, external power interface are on mainboard M-1 V 1.0.Power switch button and Wifi plates are mounted in M-1-F 02A On.Probe driving is mounted on M-1-F 01A plates.Mainboard M-1 V 1.0, probe driving plate M-1-F 01A, electric source switch board M- 1-F 02A, battery interface board M-1-F03A, probe, display screen, touch-screen, lithium battery are arranged in main case.Lithium battery is mounted in Host allows on handle, and equipped with a display screen and touch-screen, mainboard is mounted in middle part for the upper end of host, display screen and mainboard it Between equipped with a plastic septum, probe is mounted on the lower end of host.

The fpga chip realize function be：FPGA main processing controllers (master controller)；Ultrasonic imaging, image procossing with And gradient calculating processing；NiosII-CPU1, NiosII-CPU2 (crisperding, volume calculations).Arm processor (pilot controller) is real Existing function is：Personal information, image information, measurement result and the storage of icon information image of patient；Speech chip is recorded And the information of recording is stored into SD card or played；Time management information and power management message are sent to by serial ports (UART) FPGA control processors are shown；By wifi module by the personal information of patient, image information, measurement result and icon Information is sent on mobile phone or computer；By USB interface by the personal information of patient, image information, measurement result and icon Information uploads host computer.

The master controller (FPGA main processing controllers) has following functions：

1) complete machine control management function (command system co-ordination)：Touch-screen button request is received, and according to different Button request generates the control signal needed for various states.

2) scanning probe control management function：According to the control instruction that FPGA main processing controllers are sent, probe is generated Drive signal make probe on put motor carry out 120 degree scanning, motor disposed underneath progress 180 degree rotation.

3) ultrasonic signal emission receives control management function：According to the control instruction that FPGA main processing controllers are sent, to Probe send transmitting signal, while control and receive the ultrasonic signal being reflected back be amplified and A/D conversion.

4) B ultrasound image function is obtained：Scanning probe switch is connected to according to FPGA main processing controllers to ask for the first time, is sent The scanning that prescan control signal makes the slave motor of probe that crystal be driven to make 120 degree is swung, and control processor is connected to scanning probe Second of request of switch, often rotates 15 degree and scans 120 degree from motor, thus obtain B ultrasound image.

5) ultrasonic imaging, image procossing and gradient calculate processing tube reason function：

5.1) ultrasonic imaging, image processing function：According to the control instruction that FPGA main processing controllers are sent, image procossing The information that ultrasonic scanning mode obtains is converted into the information (information is carried out digital scan conversion) of display scan mode by device, Then will be stored in per two field picture in frame memory.The ultrasonic digital information by A/D conversions carries out a series of processing simultaneously, reaches The requirement of bladder scanner ultrasonograph quality.

5.2) gradient calculates processing function：According to the control instruction that FPGA main processing controllers are sent, gradient calculating processing Device carries out image gradient calculating, forms the corresponding gradient matrix of entire image and meets quick bladder limes marginis calculating requirement.

6) NiosII-CPU1 processors (quick crisperding) function：According to the control instruction that FPGA main processing controllers are sent, NiosII-CPU1 can carry out quick crisperding computing to bladder image, while obtain the number of boundary of bladder according to the Grad of image According to the critical data with bladder boundary segmentation point.NiosII-CPU1 will also obtain the data boundary of bladder and bladder boundary segmentation The critical data of point is sent into internal sdram memory, and for volume calculations, while NiosII-CPU1 also takes out and is stored in inside Volumetric values in SDRAM send video memory to show.

7) NiosII-CPU2 processors (volume calculations) function：According to the control instruction that FPGA main processing controllers are sent, According to the crisperding data of bladder scanning cross-section and the critical data of bladder scanning cross-section image boundary waypoint while drawing border Point, while carrying out point operation method calculates Bladder Volume：

7.1) bladder right side graph first, is divided by L1, L2, L3, L4, L5 according to bladder boundary segmentation key point.

7.2) integrating system in a face in the integrated value of each section of curve is calculated respectively, wherein each putting corresponding area It is worth and isWherein tan15 ° of * i is the length of every line segment, is added as area value.

7.3) the corresponding area value of every section of all the points is added as L1 sections of corresponding bulking values,Equally Method obtain V_L2、V_L3、V_L4、V_L5.Positive negative judgement is carried out (in central shaft minimum point A points to bulking value further according to segmentation key point Hereinafter, if it is negative that curve, which is downward trend, ascendant trend is just.It is negative in peak B point more than ascendant trends, downward trend is Just, between AB trend for just), then bulking value V1 on the right side of image_{It is right}=-V_L1+V_L2+V_L3+V_L4-V_L5.It similarly calculates again on the left of image Volumetric values V1_{It is left}, then the corresponding volumetric values of piece image are V1=V1_{It is left}+V1_{It is right}。

7.4) calculating steric bulk (i.e. bladder capacity) formula that 12 faces combine is Wherein index is the ratio of bladder sections actual size and picture size.

The pilot controller (arm processor) has following functions：

1) arm processor is connected by serial ports with parallel port with FPGA main processing controllers.Arm processor and FPGA main controls Order between processor is communicated by serial ports (UART).

2) arm processor receives the corresponding control signal that FPGA main processing controllers (master controller) are sent：ARM processing Device control time management information and power management message, which by serial ports (UART) are sent to FPGA control processors, to carry out storage and shows.

3) arm processor receives the corresponding control signal that FPGA main processing controllers (master controller) are sent：ARM processing Information is uploaded host computer by device control USB interface.

4) arm processor receives the corresponding control signal that FPGA main processing controllers (master controller) are sent：ARM processing Device control voice chip is recorded and the information of recording is stored into SD card or played；

5) personal information for the patient that FPGA main processing controllers parallel port is sent in arm processor control, image information, survey Amount result and icon information etc. are deposited into SD card.

6) the personal of patient in the either SD card that FPGA main processing controllers parallel port is sent in arm processor control is believed Breath, image information, measurement result and icon information etc. are sent to by wifi module on mobile phone or computer in real time.

Information storage tube manages function：It, can be by patient's name, number, year according to the control instruction that auxiliary arm processor is sent Age, gender, sweep time, bladder urine volume bulking value, 12 width B ultrasound bladder images are permanently stored, and are stored in SD card.Also may be used To incite somebody to action substantial amounts of patient's name stored in memory, number, age, gender, sweep time, bladder urine volume bulking value, 12 Width B ultrasound bladder image parameter is read.

Wifi Wireless transceivers and control function：The Wireless transceiver sent according to cell phone application is asked, and arm processor sends company Connecing control instruction, i.e. mobile phone and host is with regard to that can carry out real-time wireless communication, in addition, computer request need to wirelessly be uploaded according to host, Arm processor sends upload control instruction, i.e., on patient information wifi Wireless transceivers to the host computer of host.

The function with regard to its each component does an explanation below.

FPGA main processing controllers (main processing controller)：

According to the request of the different key on touch-screen and the request function of key-press module, FPGA main processing controllers are sent Different instructions controls different unit coordinates work：

Instruction is sent, controls the work (generating corresponding control signal) of complete machine harmonious orderly；

It sends instruction and arm processor communicates, commander's arm processor control orderly co-ordination of corresponding component；

Instruction is sent, carrying out printing patient information, B ultrasound acoustic image, bladder by bluetooth module wireless control printer holds Product result of calculation and report.

Instruction is sent, generating the drive signal of probe is scanned probe；

It sends instruction, instruction transmitting ultrasonic signal and reception ultrasonic signal and carries out A/D conversions after being amplified, be transformed into Digital signal send ultrasonic imaging, image processor and ultrasonic image-forming system；

Send instruction, instruction ultrasonic imaging, image procossing and gradient calculating processing receive ultrasonic digital signal and go forward side by side line number Word scan conversion, picture signal are handled, image gradient computing, and image information is stored in frame memory, video memory, is shown It deposits in memory, while send digital ultrasound image and image gradient value to NiosII-CPU1 processors and NiosII-CPU2 processing Device carries out quick crisperding and volume calculations；

Instruction is sent, instruction NiosII-CPU1 can carry out quick crisperding fortune according to the Grad of image to bladder image It calculates, while obtains the critical data of bladder boundary segmentation point；

Instruction is sent, instruction NiosII-CPU2 is held according to the critical data of crisperding data and bladder boundary segmentation point Product calculates；

Instruction is sent, control arm processor receives order by serial ports while control will be in video memory by parallel port Image information deposit SD card memory storage together through arm processor and patient information；

Instruction is sent, control arm processor receives order control time management information and power management simultaneously by serial ports Information is sent to FPGA control processors by serial ports (UART) and is stored in video memory and memory storage；

Instruction is sent, reads video memory and image information and the chart-information (information in addition to image in memory storage With city chart-information) the brilliant screen display of liquor charging；

After main processing controller receives the bladder scan instruction of key-press module, the B ultrasound scanning of bladder is carried out, obtains 12 width B ultrasound image；

Main processing controller requests to generate a variety of chart-informations according to the difference of touch-screen button and controls this Information writes video memory and memory and the information is read from video memory and memory；

Arm processor (auxiliary control processor)：

According to the instruction that FPGA main processing controllers are sent, it is following different that arm processor sends different instruction control Unit coordinates work：

Send instruction, control time management information (i.e. time instantly) and power management message (i.e. the electric quantity of power supply of host) FPGA main processing controllers are sent to by serial ports (UART)；

Instruction is sent, control voice chip is recorded and the information of recording is stored into SD card or played；

Instruction is sent, controls the personal information, image information, measurement of the patient for sending FPGA main processing controllers parallel port As a result and icon information etc. is deposited into SD card；

Instruction is sent, the personal of patient in the either SD card for sending FPGA main processing controllers parallel port is controlled to believe Breath, image information, measurement result and icon information etc. are sent to by wifi module on mobile phone or computer in real time；

Instruction is sent, control USB interface connection external computer, it (can be upper that host patient information, which is uploaded on the computer, Bit machine)；

Liquid crystal display：The instruction that FPGA main processing controllers are sent, display screen show some information in following message Picture：Ultrasound scan images, the original information playback of database select menu information；

Touch-screen：The button request of operator is received, and request signal is sent to FPGA main processing controllers, by master control Processor processed sends different instruction according to asking different requests；

Probe driving plate：Equipped with probe driving circuit in driving plate of popping one's head in, instructed, generated according to FPGA main processing controllers The drive signal of 3D probes makes probe be scanned and rotate；

Radiating circuit：It is instructed according to FPGA main processing controllers, generate and pops one's head in that intrinsic frequency is corresponding to be emitted pulse and arrive Probe chip；

Receive pre-amplification circuit：It is instructed according to FPGA main processing controllers, the ultrasonic signal of receiving transducer, and to being connect The signal of receipts is amplified；

A/D is converted：It is instructed according to FPGA main processing controllers, amplified simulation ultrasonic signal is converted into digital signal Send image procossing；

Probe：It is energy conversion device and scanning forming apparatus, converts electric energy to mechanical energy, mechanical energy is converted into surpassing Acoustic energy, and acquisition ultrasound image information is scanned to bladder；

Bluetooth module：It is host and the interface circuit of printer wireless connection；

Key-press module：It is scanning probe request issue device；

Frame memory：It is ultrasonoscopy storage and image processing memory；

Video memory：The image that final process is completed is stored in the memory, and takes out and SD card is sent to store.

Video memory and memory：The image that final process is completed is stored in the memory, and chart-information also is stored in the storage In device, the information that liquid crystal display is shown is read in the memory；

Wifi modules：Instructed according to arm processor, control by the personal information of patient, image information, measurement result and Icon information etc. is sent to by wifi module on mobile phone or computer in real time；

Power management：It is instructed according to arm processor, gathering battery level information by the component monitors in real time for host The electricity of power supply；

Lithium battery：Host DC power supply is provided；

Electric source switch board：Battery will be controlled, Wifi modules are also contained in this to host supplying power by the power switch of this plate On plate；

Battery interface board：Battery is by the interface board to host supplying power；

Time management：It is instructed according to arm processor, the time instantly is detected by the component in real time；

Speech chip：It is instructed according to arm processor, control voice chip is recorded or played；

SD card：It is instructed according to arm processor, the information that need to be preserved is deposited into SD card, the information of SD card can also read Go out to control processor；

USB interface：It is the port of host connection outer computer；

Host computer：External computer can receive wired and Wireless transceiver patient information；

Mobile phone：The APP softwares of establishment are downloaded on mobile phone, the wireless real time communication of host and mobile phone are can be achieved with, with regard to energy The scanning of probe is controlled on mobile phone, plays back information, stores the B ultrasound image of information and Real Time Observation bladder.

Ultrasonic imaging, image procossing and gradient calculating processing：

According to the instruction of FPGA main processing controllers, ultrasonic digital signal is received, according to corresponding scan mode into line number Word scan conversion carries out the processing of ultrasonic signal during digital scan conversion, is allowed to be transformed into the picture signal of display, together Shi Jinhang image gradients calculate；

NiosII-CPU1 processors (quick crisperding processor)：

According to the instruction of FPGA main processing controllers, NiosII-CPU1 according to the Grad of image, can to bladder image into The quick crisperding computing of row, the data boundary for obtaining bladder obtain the critical data of bladder boundary segmentation point simultaneously；

NiosII-CPU2 processors (volume calculations processor)：

According to the instruction of FPGA main processing controllers, NiosII-CPU2 is according to crisperding data and bladder scanning cross-section image The critical data of boundary segmentation point is while draw boundary point, while carrying out point operation method carries out volume calculations, specific step It is rapid as follows：

Bladder right side graph is divided by L1, L2, L3, L4, L5 according to bladder boundary segmentation key point.

The integrating system in a face in the integrated value of each section of curve is calculated respectively, wherein each putting corresponding area value and beingWherein tan15 ° of * i is the length of every line segment, is added as area value.

The corresponding area value of every section of all the points is added as L1 sections of corresponding bulking values,Same side Method obtains V_L2、V_L3、V_L4、V_L5.Bulking value is carried out further according to segmentation key point positive negative judgement (central shaft minimum point A points with Under, if it is negative that curve, which is downward trend, ascendant trend is just.It is negative in peak B point more than ascendant trends, downward trend is Just, between AB trend for just), then bulking value V1 on the right side of image_{It is right}=-V_L1+V_L2+V_L3+V_L4-V_L5.It similarly calculates again on the left of image Volumetric values V1_{It is left}, then the corresponding volumetric values of piece image are V1=V1_{It is left}+V1_{It is right}。

Calculating steric bulk (i.e. bladder capacity) formula that 12 faces combine is Wherein index is the ratio of bladder sections actual size and picture size.

Comprise the following steps as shown in Fig. 2, bladder of the present invention surveys appearance implementation method：

Complete machine main control：According to different request functions, different coordination complete machine works is sent by FPGA main processing controllers The serial control instruction and signal of work, the orderly work of management each component of complete machine；

Ultrasonic imaging, image procossing and gradient calculating processing：According to the instruction of FPGA main processing controllers, ultrasonic number is received Word signal carries out digital scan conversion according to corresponding scan mode, ultrasonic signal is carried out during digital scan conversion Processing, is allowed to be transformed into the picture signal of display, is carried out at the same time image gradient computing；

Quick crisperding calculation process：According to the instruction of FPGA main processing controllers, NiosII-CPU1 is according to the gradient of image Value can carry out quick crisperding computing to bladder image, and the data boundary for obtaining bladder obtains the pass of bladder boundary segmentation point simultaneously Key data

Bladder Volume calculating processing：According to the instruction of FPGA main processing controllers, NiosII-CPU2 according to crisperding data and The critical data of bladder boundary segmentation point is while draw boundary point, while carrying out point operation method carries out volume calculations：

The method of the present invention is as follows in practical operation：

1) complete machine main control

FPGA main processing controllers receive the different button requests of touch-screen and key-press module, according to different buttons Request function sends the serial control instruction and signal of different coordination complete machine work, the orderly work of management each component of complete machine.

2) scanning probe control (since probe is currently the exclusive invention in the world, can only select this probe, so the drive of probe Dynamic is certain)

The present embodiment uses fan sweeping formula B-mode instrument, this kind of instrument is relied on using mechanical sector scan ultrasonic probe Mechanically operated mode drives sensor to realize sectoring.It is that one kind is adopted used by the fan sweeping formula B-mode instrument Swing (band rotation) three dimensional ultrasound probe directly driven with three-phase stepper motor.There are two stepper motor, underlying steps in probe Stepper motor (main motor) above puts stepper motor and swings back and forth (from motor) 120 ° along 180 ° of longitudinal axis rotary motion.When starting scanning When underlying stepper motor is fixed on 0 ° of initial position of 0~180 ° of scanning range, above puts stepper motor and do 120 ° and swing back and forth, With regard to obtaining a width ultrasonoscopy.Then underlying stepper motor rotates 15 °, fixes, above puts stepper motor and then rotate 120 °, then take Obtain the second width image.Next underlying stepper motor is allowed to rotate 15 ° again, stepper motor is above put and scans again, and so on, under It puts stepper motor and has rotated 180 °, stop.13 width images are achieved altogether at this time, 12 width therein is taken to participate in computing, is calculated The volume of bladder.On put step motor control driving probe in piezoelectric chip swing back and forth 120 °, piezoelectric chip is in swing Emit Ultrasound beamforming ultrasonic scanning simultaneously.This ultrasonic wave generates reflection or scattered wave when passing through organizational interface in human body, This histoorgan can be positioned according to the time of its return, the characteristic of tissue, transmitting one can be detected according to its intensity A pulse can only obtain the root information in a certain plane of tissue.To obtain the plane organization chart picture of two dimension, at least need to send out It penetrates 128 times, the image that then this is emitted and received successively is shown on a display screen, and the image of display is will to receive Acoustic beam signal strength makees gray modulation, has just obtained the width flat image identical with actual section.

On put stepper motor and underlying stepper motor take 12 width image-driven timing charts as shown in FIG. 16 and 17, scheme 16 is put stepper motor and underlying stepper motor takes 12 width image-driven timing charts in the present invention；Figure 17 is in the present invention On put stepper motor be driven forward timing chart；Figure 18 for the present invention on put stepper motor be driven reverse timing chart.

3) ultrasonic signal emission receives control

The transmitting of probe is to generate the hair of corresponding pulsewidth by FPGA main processing controllers according to the intrinsic frequency of probe itself It penetrates pulse and is output to probe radiating circuit, radiating circuit, which will emit after corresponding amplification is made in pulse, is sent to probe chip, and probe is brilliant Piece is actually an energy conversion device, and transmitting is that transmitting pulse (electric energy) is converted into mechanical energy and then is converted into surpassing again Acoustic energy, reception are that ultrasound can be converted into mechanical energy and then be converted into electric energy again, and the reception of signal is exactly the preposition amplification electricity of ultrasound Road, which will be received after the ultrasonic electric signal that energy converter transmits is amplified processing, send A/D conversion circuits to be transformed into ultrasonic digital letter Number image processor is sent to be handled.Transmitting pulse is provided by programmable logic controller (PLC) part FPGA control processors, send transmitting Drive UCC37323 chip input terminals, the output terminal of the chip send power field effect pipe send after power amplification probe chip into Row transmitting, probe radiating circuit are made of devices such as transmitting driving chip and field-effect tube, and probe receiving circuit is by preposition amplification Device is formed with A/D conversion circuits, and provides control pulse by programmable logic controller (PLC) part FPGA main processing controllers.

4) ultrasonic imaging, image procossing and gradient calculating processing

Ultrasonic imaging, image procossing：The digital ultrasound signal received is subjected to digital scan conversion, in practice, by It is different in the scanning imagery mode of transmitting and the scanning imagery display direction of TFT, and image taking speed is also different, in order to realize The real time imagery of two dimensional slice devises a digital scan convertor (DSC) in image procossing and gradient calculating processing Realize that ultrasound emission scans standard transformation and scans standard into TFT (display).It is understood that the scan mode of ultrasound is broadly divided into line Battle array and sector format, the DSC principles of linear array scanning mode are simpler, and the array element in probe emits and receive ultrasound and returns in order Ripple.The column address of these ultrasonic scanning line correspondence image memories, sample point correspondence image memory in every scan line Row address, sampled value read data during display from memory successively by the row address of Leie time write-in video memory by row. Since we are using sectoring mode, the DSC of sectoring mode is more complicated, it is necessary to carry out coordinate conversion, and one As be all transformed into rectangular co-ordinate by calculating using by fan-shaped polar coordinates, echo information is write according to the rectangular co-ordinate address provided Enter one in the one-to-one video memory of display pixel, reading data from memory successively by row during display.It is this Although mode is simple, the storage resource occupied is larger, has significant limitation to post processing of image, it is crucial that using this The storage address for the sample point that kind computing mode obtains there is precision problem, therefore interpolation is difficult to realize high-precision insert It mends, directly affects picture quality.In our device, emitted using angle, the coordinate transform mode of frequency-change sampling, i.e., every The coordinate transform in vertical direction is completed during the samples storage of scan line, the sample frequency of every line is all different. Read the coordinate transform completed in data procedures in horizontal direction from memory successively by row, maximum in this way is good Place is to remain whole echo datas so that data interpolation link can obtain degree of precision.Picture quality has obtained very big Improve, but require processing speed high, we realize angle transmitting using programmable logic device FPGA, and the coordinate of frequency-change sampling becomes Change mode.DSC seeks to carry out some Digital Image Processing, compensation deals there are one critically important function.Such as：Image is believed Number average, enhancing, correlation, Gamma correction, number amplification, detection, log-compressed, the smooth interpolation of image information, signal The a series of processing of band logical etc. is all completed in DSC, and most image display is on the screen at last.

Gradient calculating processing：Invention is completed in DSC at last with hardware realization gradiometer, and gradient is calculated first by first Root samples line and last root sampling line has little significance to image border enhancing, its gradient is arranged to 0 by us.Sample the of line One sampled point and the last one sampled point have little significance to image border enhancing, its gradient is also arranged to 0 by us.Thus, During we realize that gradient calculates, the data of 2 sampling lines are preserved first, when the 3rd sampling line starts sampling, from the 3rd A sampled point starts, we can calculate the horizontal gradient and vertical gradient of the 2nd sampled point of the 2nd line.And so on.The A piece sampling line and last root sampling line are little to last general image gradient, its gradient is arranged to 0 by us.Specific implementation Horizontal gradient calculates and vertical gradient calculates as shown in Figure 6.After obtaining horizontal gradient and vertical gradient, it would be desirable to progress square With extraction of square root computing, quadratic sum extraction of square root computing very elapsed time, FPGA realizations are advantageous in that we can pass through inquiry Table can obtain result of calculation, almost without delay, greatly reduce the time that software is realized.Image each sampled point is obtained Horizontal and vertical Grad, implement step：

1. seek gradient matrix：One frame ultrasound original image longitudinally samples 400 points, 201 lines is laterally sampled, such as Fig. 7 institutes Show, we obtain the raw ultrasound data matrix that a size is 400*201.Assuming that it (hangs down in (horizontal direction) y root emission lines Nogata to) x-th point of sampled value is z_{(x, y)}, using Sohel operators as shown in Figure 8 as x directions (vertical direction) gradient Operator and y directions (horizontal direction) gradient operator.When doing gradient calculating to 400*201 regions using Sobel operators, can must mark It is denoted as z_{(x, y)}Sampled point x direction gradients G_xWith the gradient G in y directions_yComponent is respectively：

G_y=(z_{(x-1, y+1)}+2*z_{(x, y+1)}+z_{(x+1, y+1)})-(z_{(x-1, y-1)}+2*z_{(x, y-1)}+z_{(x+1, y-1)})

Labeled as z_{(x, y)}The calculation formula of gradient of sampled point be

2. in threshold processing, using basic global threshold：When the Grad of certain pixel (x, y)It is more than or waits , it is specified that the gray value of the point is 255 when the thresholding T set, it is on the contrary then for 0.I.e.：

Also by treated, image information is stored in frame memory, figure for ultrasonic imaging, image procossing and gradient calculating processing As in memory, video memory and memory.

5) quick crisperding computing, Bladder Volume calculate

Quick crisperding computing：NiosII-CPU1 processors are according to the gradient matrix of image, from the centre scan of piece image Line starts, and judges the boundary point of bladder from lower to upper：Continuously there are 5 gradients most after finding the maximum of gradient from lower to upper Small value, the maximum of this gradient is exactly the lower wall of bladder, on the contrary, Grad is all continuously continuously to occur 5 most after minimum value During big Grad, which becomes the upper wall that maximum is exactly bladder, and after the same method, turning left or turn right, it is whole to find out The boundary value (i.e. the bladder wall) of a bladder image.After completing the bladder wall (crisperding) computing, the X and Y-direction of the bladder wall are judged Coordinate transform turning point, no matter coordinate changes from small to big or turning point from large to small (is the crucial number of bladder boundary segmentation point According to), NiosII-CPU1 processors also send the critical data of the data boundary for obtaining bladder and bladder boundary segmentation point to inside It is preserved in sdram memory.

6) Bladder Volume calculates：NiosII-CPU2 processors are according to the data boundary of bladder and bladder boundary segmentation point Critical data draws boundary point according to one side, while carrying out point operation method calculates Bladder Volume：

1. bladder right side graph first, is divided by L1, L2, L3, L4, L5 according to bladder boundary segmentation key point.Such as figure Shown in 11.

2. calculate the integrating system in a face in the integrated value of each section of curve respectively, now exemplified by L1 sections, L1 curves by Point p₀p₁p₂…p_nIt forms (as shown in figure 12), wherein each putting corresponding area value and being(such as Figure 13 institutes Show), wherein tan15 ° of * i is the length of every line segment, is added as area value.

3. the corresponding area value of L1 sections of all the points is added as L1 sections of corresponding bulking values,Similarly Method obtains V_L2、V_L3、V_L4、V_L5.Positive negative judgement (see Figure 11) is carried out to bulking value (in central shaft most further according to segmentation key point Below low spot A points, if it is negative that curve, which is downward trend, ascendant trend is just.Be in peak B point more than ascendant trends it is negative, under Drop trend is just, and trend is just between AB), then bulking value V1 on the right side of image_{It is right}=-V_L1+V_L2+V_L3+V_L4-V_L5.Similarly calculate again Volumetric values V1 on the left of image_{It is left}, then the corresponding volumetric values of piece image are V1=V1_{It is left}+V1_{It is right}。

4. calculating steric bulk (i.e. bladder capacity) formula that 12 faces combine is Wherein index is the ratio of bladder sections actual size and picture size.

In order to realize while boundary point is drawn, while carrying out point operation method calculates Bladder Volume, present apparatus invention Hardware realization Sobel algorithms are used, the gradient matrix that each pixel of correspondence image has been obtained (was real with software in the past It is existing), accelerate Bladder Volume calculating speed, mating with this, FPGA uses double-core CPU processor, and one of CPU is only responsible for dot product Partite transport is calculated Bladder Volume, because while draw boundary point, is carried out point operation method on one side and is calculated Bladder Volume its need Each intravesical pixel is divided into volume (i.e. volume) according to dot product, and also to ensure the speed of volume calculations, In order to meet and ensure the implementation of algorithm, present invention employs using FPGA controller as main control and calculating, with ARM7 processors Supplemented by control model, realize three CPU co-ordinations simultaneously so that the control ability of complete machine, service ability, reliability are all Conclusive raising is obtained, particularly calculating speed disclosure satisfy that while boundary point is drawn, while carrying out point computing side Method calculates Bladder Volume, makes computational accuracy and survey to judge by accident by mistake to obtain radical change to greatest extent.

The method of the present invention may also include：

7) arm processor

After arm processor receives the order that the main master controllers of FPGA are sent, RM processors send different instruction control Following different unit coordinates work

Control time management information (i.e. time instantly) and power management message (i.e. the electric quantity of power supply of host) pass through serial ports (UART) FPGA control processors are sent to.

Control voice chip is recorded and the information of recording is stored into SD card or played.

Control the personal information of patient for sending FPGA main processing controllers parallel port, image information, measurement result and Icon information etc. is deposited into SD card.

The personal information of patient in the either SD card that FPGA main processing controllers parallel port is sent in control, image are believed Breath, measurement result and icon information etc. are sent to by wifi module on mobile phone or computer in real time.

USB interface connection external computer is controlled, host patient information is uploaded on the computer (can be host computer)；

Arm processor keeps in communication with FPGA master controllers and coordinates the above work of independent control completion again, in device Three CPU processors have accomplished superposition concurrent working.

8) information storage control

FPGA main processing controllers send instruction by serial ports, and arm processor receives order simultaneously by simultaneously by serial ports Mouthful receive patient's name, number, age, gender, sweep time that FPGA main processing controllers send out, bladder urine volume bulking value, 12 width B ultrasound bladder images deposit SD card memory storage together.

Meanwhile the voice messaging that arm processor control is recorded can also deposit SD card memory storage.

The method of the present invention may also include：

9) information wifi Wireless transceivers and cell phone application software

It (is exactly by measurement result that bladder scanning information, which is transmitted in real time on the mobile terminals such as mobile phone,；Real time scan image； Scanning projection；Alarm；Patient information can transmit to the mobile terminals such as mobile phone), while mobile phone can also control bladder instrument to carry out (medical staff can also be controlled bladder to survey looks by mobile phone and be scanned acquisition real time scan image and bladder capacity for scanning Information etc.), realize the communication and dialogue of instrument and mobile terminal.It realizes to be managed the information of reception on mobile phone and (such as look into See scanning projection and the storage of the bladder B ultrasound image and 12 sub-pictures of real time scan).It simultaneously will by mobile terminals such as mobile phones The essential information of patient and the real-time image information of scanning are real-time, are quickly uploaded to internet platform.Patient is long-range except obtaining Rehabilitation guidance it is outer, doctor can carry out the diagnosis of long-range bladder disease according to the real time scan image and information of tracking.This The radio transmission techniques of invention and previous radio transmission techniques it is maximum be not both be that the speed of legend has obtained basic carry Height, in the past using Bluetooth transfer techniques, this transfer approach carries out data transmission using serial ports, and speed is very slow, static The transmission of two-dimentional B ultrasound image is not all carried out, needless to say two-dimentional B ultrasound image in real time, bluetooth transmission can only meet general Therefore the transmission of simple data, will solve the transmission of realtime graphic, invented in a device using wifi tranmission techniques, solved The real-time transmission of image scanning makes long-range bladder disease diagnosis impart essential meaning.

The method of the present invention may also include：

10) host probe integration

In order to realize host and the probe integration design method of the invention being combined using hardware and software, in instrument The considerations of detailed careful, has all been done in global design and the selection of device, selects the FPGA programmable logic chips of forth generation, the core Piece is small, and function is complete, double-core CPU.It is parallel using FPGA control processors and the two controllers of arm processor in a device Work, removes some interface chips, space is made to become compact.The device volume is small, light-weight, is convenient for carrying, and is moved easily, no Need cart.Bladder instrument is put into pocket by medical staff just can descend ward, and into operating room or emergency ward, operation is also extremely convenient.This Invention adds voice recording and playing function, using phonetic entry+patient information+ultrasonoscopy+Bladder Volume value to patient Metrical information is preserved, and also with touch-screen client is facilitated to input customer information in extra small hand-held bladder analyzer； Since device is using hardware calculating image gradient value, crisperding arithmetic speed is made to get a promotion, ensure that the present apparatus realizes at present The boundary point of bladder is exclusively drawn using one side in the world, while carrying out point computing carries out bladder capacity measure, is made Computational accuracy and by mistake survey erroneous judgement obtain radical change to greatest extent.

The foregoing is merely the schematical specific embodiments of the present invention, are not limited to the scope of the present invention.It is any Those skilled in the art, made equivalent variations and modification on the premise of the design of the present invention and principle is not departed from, The scope of protection of the invention should be belonged to.

Claims

1. a kind of bladder, which is surveyed, holds implementation method, which is characterized in that it comprises the following steps：

Complete machine controls：According to different request functions, it is by what FPGA main processing controllers sent that different coordination complete machines works Row control instruction and signal, the orderly work of management each component of complete machine；

Scanning probe controls：It is instructed according to FPGA main processing controllers, generating the drive signal of 3D probes is scanned probe And rotation；

Ultrasonic signal emission receives control：FPGA main processing controllers output transmitting pulse control signal to pop one's head in radiating circuit and The ultrasonic electric signal received is amplified after processing generation ultrasonic digital signal after sending A/D conversions and sent by probe receiving circuit Image processor is handled；

Ultrasonic imaging, image procossing and gradient calculating processing：According to the instruction of FPGA main processing controllers, ultrasonic digital letter is received Number, digital scan conversion is carried out according to corresponding scan mode, the processing of ultrasonic signal is carried out during digital scan conversion, It is allowed to be transformed into the picture signal of display, is carried out at the same time image gradient calculating；

Quick crisperding computing：According to the instruction of FPGA main processing controllers and the Grad of image, bladder image is carried out fast Fast crisperding computing, while obtain the crisperding data of bladder and the critical data of bladder boundary segmentation point；

Bladder Volume calculates：According to the instruction of FPGA main processing controllers and crisperding data and the pass of bladder boundary segmentation point Key data is while draw boundary point, while carrying out point operation method carries out volume calculations.

2. bladder according to claim 1, which is surveyed, holds implementation method, which is characterized in that bag in the FPGA main processing controllers Include NiosII-CPU1 and NiosII-CPU2；

The NiosII-CPU1 can carry out quick crisperding computing to bladder image, while obtain bladder according to the Grad of image Data boundary and bladder boundary segmentation point critical data；

The NiosII-CPU2 is according to crisperding data and the critical data of bladder boundary segmentation point while drawing boundary point, on one side It carries out point operation method and carries out volume calculations.

3. bladder according to claim 1, which is surveyed, holds implementation method, it is characterised in that：The drive signal for generating 3D probes Make that probe is scanned and rotation comprises the following steps：

The underlying stepper motor for starting to pop one's head in during scanning is fixed on the initial position of scanning range, above puts stepper motor and is providing It swings back and forth in the range of hexagonal angle degree, obtains the ultrasonoscopy in the first section；

Underlying stepper motor rotates 15 ° of angles of regulation, fixed；

On put stepper motor and swing back and forth again in the range of regulation hexagonal angle degree, obtain the ultrasonoscopy in the second section；

And so on, until underlying stepper motor turns to final position, stepper motor is above put in the range of regulation hexagonal angle degree It swings back and forth and obtains the ultrasonoscopy in the n-th section, stop.

4. bladder according to claim 1, which is surveyed, holds implementation method, it is characterised in that：The ultrasonic signal processing is included to super The average of acoustical signal, enhancing, correlation, Gamma correction, digital amplification, log-compressed, the smooth interpolation of image, a series of places of band logical Reason.

5. bladder according to claim 1, which is surveyed, holds implementation method, it is characterised in that：The digital scan conversion is via number The ultrasound emission of image is scanned standard transformation and shows scanning standard into TFT by word scan converter.

6. bladder according to claim 1, which is surveyed, holds implementation method, it is characterised in that：The image gradient calculating is with hard Part interpolation method carries out interpolation calculation to gradient matrix, the algorithm of Sobel operators is realized, to every frame image matrix 400*201 areas Gradient calculating is done in domain, and there are two types of the values in obtained gradient matrix, maximum 255, minimum value 0；

Gradient algorithm step is：

Gradient matrix is sought, interpolation calculation is carried out to gradient matrix with interpolation method,

Thresholding is set, in threshold processing, using basic global threshold, more than or equal to setting thresholding when, it is specified that the point Gray value is 255, it is on the contrary then for 0.

7. the bladder according to claim 1 or 6, which is surveyed, holds implementation method, it is characterised in that：

The volume for calculating entire bladder comprises the following steps：

According to the Grad of image, the data boundary of bladder scanning cross-section image is quickly calculated while also obtains bladder scanning The critical data of cross-sectional image boundary segmentation point；

According to crisperding data and the critical data of bladder scanning cross-section image boundary waypoint while drawing boundary point, on one side simultaneously It carries out point operation method and carries out volume calculations, its step are as follows：

Key point is segmented by several bladder scanning cross-section figures of bladder scanning acquisition according to every width bladder scanning cross-section image boundary Right side graph of the curve of every width bladder scanning cross-section image boundary of picture using central shaft as boundary is divided into multistage curve；

The multistage curve, in the minimum point following range of of the intersection point of the curve on central shaft Yu bladder surface sweeping cross-sectional image border In curve, its value is negative if curve is downward trend, if curve is ascendant trend, its value is just；In the highest of the intersection point In the curve of point range above, its value is negative if curve is ascendant trend, if curve is downward trend its value be just, it is described The value of curve between highs and lows is just；

According to the multistage curve of division, the integrated value in a face in the integrated value of each section of curve, each section of song are calculated respectively Line is made of N number of point, and each corresponding area value for calculating gained of point in one section of curve is added to obtain the volume of this section of curve Value；

The bulking value of each section of curve is determined to be added after its is positive and negative according to its trend, obtains the right side of the width bladder scanning cross-section image The bulking value of lateral curvature line；

The bulking value of leftmost curve is similarly calculated, and is added with the bulking value of right side graph, obtains the width bladder scanning cross-section figure The bulking value for scanning all several bladder scanning cross-section images that bladder obtains is added by the bulking value of picture, and by actual size It is calculated with picture size ratio, obtains bladder bulking value, i.e. bladder capacity.

8. bladder according to claim 7, which is surveyed, holds implementation method, it is characterised in that：

Key point is segmented by 12 width bladder scanning cross-sections of bladder scanning acquisition according to every width bladder scanning cross-section image boundary Right side graph of the curve of every width bladder scanning cross-section image boundary of image using central shaft as boundary be divided into five sections of curve L1, L2、L3、L4、L5；Wherein L1 and L5 is downward for trend, and L2, L3 and L4 are upward for trend, and the L1 curves are by point p₀p₁p₂…p_n Composition, each putting corresponding area isWherein tan15 ° of * i is the length of every line segment, is added as face Product S_j1；

The volume of curve L1 isSimilarly obtain V_L2、V_L3、V_L4、V_L5；Sentence according to key point is positive and negative to bulking value progress It is disconnected, obtain bulking value V1 on the right side of image_{It is right}=-V_L1+V_L2+V_L3+V_L4-V_L5；Bulking value V1 on the left of image can similarly be obtained_{It is left}；The then width The bulking value of bladder scanning cross-section image is V1=V1_{It is left}+V1_{It is right}；

The bulking value for scanning all 12 width bladder scanning cross-section images that bladder obtains is added, and by actual size and image Dimension scale calculates, and obtains bladder bulking valueThat is bladder capacity；Wherein index is bladder The ratio of section actual size and picture size.

9. a kind of hand-held bladder surveys capacitance device, it is characterised in that：It includes：

FPGA main processing controllers, the FPGA control processors receive the different button requests of touch-screen, according to different Button request function, send the serial control instruction and signal of different coordination complete machine work, and each component of management complete machine is orderly Work；

Complete machine controls：Complete machine control is used based on FPGA programmable logic device, the central control process supplemented by arm processor Device：

Probe emits, and the probe transmitting is that the transmitting pulse for the corresponding pulsewidth for receiving main processing controller generation is made accordingly Probe chip is sent to after amplification；

Probe receives, and the probe, which receives, includes preamplifier and A/D conversion circuits, and the preamplifier will receive institute State probe chip transmission come ultrasonic electric signal be amplified processing after give the A/D conversion circuits be transformed into ultrasonic digital letter Number image processor is sent to be handled；

Ultrasonic imaging, image processor：Described image processor receives digitized ultrasonic signal, according to corresponding scan mode Digital scan conversion and ultrasonic signal processing are carried out, is allowed to be transformed into B ultrasound figure that is can showing and meeting bladder capacity test As signal；

Gradient computation processor：The gradient computation processor carries out gradient matrix interpolation calculation with interpolation method, sets ladder Thresholding is spent, the gradient matrix finally obtained is exactly the entire image gradient after last ultrasonic imaging, meets quick bladder limes marginis meter Calculate requirement；

NiosII-CPU1 processors are quick crisperding processor：The quick crisperding processor is handled according to FPGA main controls The instruction of device and the Grad of image can carry out quick crisperding computing to bladder image, at the same obtain bladder crisperding data and The critical data of bladder boundary segmentation point；

NiosII-CPU2 processors are volume calculations processor：The volume calculations processor is according to FPGA main processing controllers Instruction and crisperding data and the critical data of bladder boundary segmentation point draw boundary point according to one side, progress dot product on one side Operation method is divided to calculate Bladder Volume；

Arm processor：The arm processor is kept in communication as the pilot controller and FPGA master controllers of device, according to The order that FPGA master controllers are sent, arm processor also send different instruction control：Time management, power management, USB connect Mouth, SD card memory, speech chip, wifi module are worked in order；

Wherein, FPGA master controllers FPGA main processing controllers portion and ultrasonic imaging, image procossing and gradiometer in the chip Calculate processor connection；The signal of the probe is connected through receiving circuit of popping one's head in image processor and gradient computation processor；It should The control signal output of FPGA main processing controllers is also connected to probe radiating circuit respectively and probe driving circuit, probe receive Circuit；Receiving circuit of popping one's head in includes signal pre-amplification circuit and A/D conversion circuits, and signal pre-amplification circuit is connected to probe, The output of signal pre-amplification circuit is connected to the analog input end of A/D conversion circuits, the digital output of A/D conversion circuits End is connected with the input terminal of ultrasonic imaging, image procossing and gradient computation processor, and FPGA main processing controllers are by string and simultaneously Mouth is connected with arm processor；

The shell of hand-held is further included, for foregoing component all in the hand-held outer case, the probe is mounted on should On the shell of hand-held.

10. hand-held bladder according to claim 9 surveys capacitance device, it is characterised in that：The FPGA main processing controllers Display signal output part be connected with display；Or it is connected by touch-screen with display.

11. hand-held bladder according to claim 9 surveys capacitance device, it is characterised in that：The FPGA main processing controllers It is connected with touch-screen and key-press module.

12. hand-held bladder according to claim 9 surveys capacitance device, it is characterised in that：With bluetooth module, the module and FPGA main processing controllers are connected, and printing patient information by the module wireless control printer reports.

13. hand-held bladder according to claim 9 surveys capacitance device, it is characterised in that：The FPGA main processing controllers Control signal be further connected with frame memory, video memory, video memory and memory, frame memory is the ultrasonoscopy of storage, image Handle private memory.What video memory stored is the scan image and patient information after the completion of processing, is for FPGA master controls The private memory set when processor and arm processor processed communication, video memory and memory storage are scanning after the completion of processing Image and patient information are the private memories of corresponding display.

14. hand-held bladder according to claim 9 surveys capacitance device, it is characterised in that：The arm processor and time pipe Unit connection is managed, manages and gathers current time value and FPGA main processing controllers is sent to show.

15. hand-held bladder according to claim 9 surveys capacitance device, it is characterised in that：The arm processor and power supply pipe Unit connection is managed, the gathered data of the electric quantity of power supply of instrument is managed and FPGA main processing controllers is sent to show.

16. hand-held bladder according to claim 9 surveys capacitance device, it is characterised in that：The arm processor and voice core Piece connects, and the voice messaging recorded is recorded or played in control, and stores or read the voice messaging recorded to SD card.

17. hand-held bladder according to claim 9 surveys capacitance device, it is characterised in that：The arm processor and SD card are deposited Reservoir connects, and patient scan image and patient information that FPGA main processing controllers are sent are stored in SD card memory.

18. hand-held bladder according to claim 9 surveys capacitance device, it is characterised in that：The arm processor is also and USB Interface connects, and patient information is uploaded to host computer by USB interface by data cable.

19. the hand-held bladder according to claim 9 or 10 surveys capacitance device, it is characterised in that：The arm processor also and Wifi module connects, and by the module, the information such as patient's real time scan image can be transmitted on mobile phone and host computer, while hand Machine can be used as host, the function that wireless control probe is scanned, stores patient information, checking scan image.

20. hand-held bladder according to claim 19 surveys capacitance device, which is characterized in that the FPGA main processing controllers It is connected with touch-screen and key-press module；

With bluetooth module, which is connected with FPGA main processing controllers, is printed and suffered from by the module wireless control printer Person's information is reported；

The control signal of the FPGA main processing controllers is further connected with frame memory, video memory, video memory and memory, frame storage Device be storage ultrasonoscopy, image procossing private memory.What video memory stored is the scan image after the completion of processing And patient information, it is the private memory to be set when FPGA main processing controllers and arm processor communication, video memory and memory are deposited What is stored up is the scan image and patient information after the completion of processing, is the private memory of corresponding display；

The arm processor is connected with time management unit, is managed and is gathered current time value and FPGA main controls is sent to handle Device is shown；

The arm processor is connected with Power Management Unit, is managed the gathered data of the electric quantity of power supply of instrument and is sent FPGA master controls Processor processed is shown；

The arm processor is connected with speech chip, and the voice messaging recorded is recorded or played in control, and is stored or read to SD card Go out the voice messaging of recording；

The arm processor is connected with SD card memory, the patient scan image that FPGA main processing controllers are sent and patient Information is stored in SD card memory；

The arm processor is also connected with USB interface, and patient information is uploaded to host computer by USB interface by data cable；

The arm processor is also connected with wifi module, by the module, can be transmitted to the information such as patient's real time scan image On mobile phone and host computer, while mobile phone can be used as host, and wireless control probe is scanned, stores patient information, checking and sweep The function of tracing picture.