CN109330626B - Device and method for adaptively adjusting position of ultrasonic probe - Google Patents
Device and method for adaptively adjusting position of ultrasonic probe Download PDFInfo
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
- A61B8/0866—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving foetal diagnosis; pre-natal or peri-natal diagnosis of the baby
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- A61B8/46—Ultrasonic, sonic or infrasonic diagnostic devices with special arrangements for interfacing with the operator or the patient
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- A61B8/52—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves
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Abstract
The invention provides an ultrasonic detection device capable of adaptively adjusting the position of an ultrasonic probe, which judges the specific position of the current ultrasonic probe relative to a human body according to the current ultrasonic sectional image, estimates the position needing to be moved, finally drives a mechanical moving device to drive the ultrasonic probe to correct the position, and then corrects and moves the position step by step until the ultrasonic probe moves to an interested area. The invention is completely independent of the technique and experience of the operator, identifies the human body ultrasonic tomography image through machine learning, judges the position and the angle of the ultrasonic probe, and further guides the ultrasonic probe to move to the appointed part.
Description
Technical Field
The invention relates to the technical field of ultrasonic detection, in particular to a device and a method for adaptively adjusting the position of an ultrasonic probe.
Background
Medical ultrasonic detection, as a conventional tomographic plane imaging technique, can reflect a tomographic section image of a human body to clinical personnel for diagnosing and judging the health condition of a patient. In the detection process, generally, an ultrasonic operator places an ultrasonic probe at a corresponding part of a human body according to experience, then finely adjusts the angle of the probe by observing an ultrasonic scanning image displayed on a display screen, further obtains an ultrasonic image of an interested area, and finally intercepts and prints the image as clinical evaluation data. Such examination has been widely popularized at present, and ultrasound detection is the only diagnostic means for imaging that can be applied in the field of maternal-fetal health detection as a diagnosis mode completely free of ionizing radiation, and particularly in fetal health examination in obstetrics and gynecology department, medical staff can see the development condition of a fetus by using ultrasound, which is of great significance for judging the early development condition and defect screening of the fetus. However, the current ultrasonic screening method for the fetus depends on the operating doctors of the ultrasound department, in all the tests, the operating doctors need to hold the ultrasonic probe to search the corresponding position of the fetus, to identify the image area and adjust the position of the probe, and a single test takes about more than 20 minutes. Under the current situation of good prenatal and postnatal care, people pay special attention to the health condition of a fetus, so that the number of pregnant women for examination is large, the labor intensity of an operating doctor is improved seriously, a qualified ultrasonic operating doctor needs to spend long time of energy and investment, and a large number of operating doctors cannot be provided in a short time to cope with the dilemma, so that the large-scale ultrasonic health screening of the mother and the baby by only relying on manpower is unrealistic, and the current ultrasonic examination has the situation that the examination depends on the manpower examination and cannot meet the increasing examination requirements.
Disclosure of Invention
In order to solve the above problems, the present invention provides a device and a method for adaptively adjusting the position of an ultrasound probe, which determine the specific position of the current ultrasound probe with respect to a human body according to the current ultrasound cross-sectional image, and then correct and move the position step by step until the ultrasound probe moves to a region of interest, the invention mainly includes three parts: the ultrasonic probe, the ultrasonic signal digital processing module and the mechanical moving device. The ultrasonic signal digital processing module drives the ultrasonic probe to scan, then the specific positions of the probe and the human body are judged according to the scanned image, the position needing to be moved is estimated, finally the mechanical moving device is driven to drive the ultrasonic probe to correct the position, and the operation is repeated until the ultrasonic probe scans the correct region of interest. The invention is completely independent of the technique and experience of the operator, identifies the human body ultrasonic tomography image through machine learning, judges the position and the angle of the ultrasonic probe, and further guides the ultrasonic probe to move to the appointed part.
The specific technical scheme of the invention is as follows:
the device for adaptively adjusting the position of the ultrasonic probe is characterized by comprising the ultrasonic probe, an ultrasonic signal digital processing module and a mechanical moving device, wherein the ultrasonic probe is used for transmitting ultrasonic waves and receiving echo waves, the ultrasonic signal digital processing module is used for processing and analyzing ultrasonic echo signals, judging the position of the ultrasonic probe and estimating position correction parameters, and the mechanical moving device controls the movement of the ultrasonic probe according to the position correction parameters.
Preferably, the ultrasonic signal digital processing module comprises an ultrasonic pulse excitation part, a control and image comparison judging part, an ultrasonic image imaging part, an echo receiving part, a low noise gain amplifying part, an AD acquisition part and a stepping motor driving circuit part.
And the excitation and echo output of the ultrasonic probe are connected to the ultrasonic signal digital processing module, the ultrasonic signal digital processing module performs high-voltage pulse excitation, and the ultrasonic echo is subjected to subsequent processing.
The ultrasonic pulse excitation part generates high-voltage ultrasonic excitation pulses to excite the ultrasonic probe to emit ultrasonic waves.
The echo receiving part is used for carrying out impedance matching and voltage clamping on echo signals, amplitude gain of the processed signals is enhanced after the processed signals pass through the low-noise gain amplifying part, the processed signals are amplified into voltage amplitude adaptive to the AD sampling part, the voltage amplitude is digitized after AD sampling, and the signals are sent to the ultrasonic image imaging part to form a complete B ultrasonic image after low-pass filtering, dynamic compression, digital demodulation, interpolation and image reconstruction.
After the B ultrasonic image is formed, the B ultrasonic image is sent to the control and image comparison judgment part for analysis, the analysis process is as follows, the analysis part integrates a depth learning algorithm, the image is judged and identified by using priori knowledge, if the image can be identified, the specific position of the ultrasonic probe can be calculated, then a prediction estimation is carried out according to the region of interest, the distance and the angle of the ultrasonic probe to be moved are calculated, then the two values are sent to a position correction parameter part, the position information is converted into the step number of a stepping motor by the position correction parameter part, then a stepping motor driving circuit is driven, the mechanical moving device is controlled, the ultrasonic probe is moved to the estimated position, and then the steps are repeated to carry out recursive adjustment until the ultrasonic probe is moved to the corresponding region of interest. If the image can not be identified, the processing module makes a random movement on the ultrasonic probe, analyzes the acquired B-mode ultrasonic image, and repeats the operation until the identifiable image can be found.
The control and image comparison judging part is a core part of the invention and can analyze the difference between a target area and an actual detection area so as to deduce the current error value of the probe and guide the mechanical arm to carry out position correction. The part has accumulated a large amount of machine learning results, and has a priori experience on the position of the whole fetus in a mother, so that in conventional fetus screening, the specific position of the probe relative to the fetus can be judged according to a sectional image of the fetus, the distance and angle error of the probe relative to a region of interest (including a head circumference cross section, a belly circumference cross section, a humerus and other parts of the fetus) can be estimated, corresponding adjustment is performed subsequently, the mechanical arm is guided to move correspondingly, and the target region of interest is found by means of a recursive algorithm in a step-by-step approaching manner.
Preferably, the region of interest is preset by a user before performing an examination.
Preferably, the region of interest may be a plurality of regions, such as a head circumference cross section, a belly circumference cross section, a humerus, and the like of the fetus.
Preferably, when there are a plurality of regions of interest, the user sets an examination order in advance, and the regions of interest are examined sequentially in a predetermined order during examination.
Preferably, when there are a plurality of regions of interest, the examination order is automatically determined according to the principle of minimum moving distance during examination.
Preferably, the mechanical moving device is a 6-degree-of-freedom mechanical arm, the ultrasonic probe can be moved in a 6-degree-of-freedom mode to adjust the position and the angle, the mechanical arm is controlled by the ultrasonic signal digital processing module, and the ultrasonic signal digital processing module controls all steering engines and stepping motors on the mechanical arm, so that the free motion of the mechanical arm can be controlled.
The invention further provides a method for adaptively adjusting the position of the ultrasonic probe based on the device,
the method comprises the following steps:
the ultrasonic probe transmits ultrasonic waves and receives echoes, the ultrasonic signal digital processing module processes ultrasonic echo signals to obtain a B ultrasonic image, the obtained B ultrasonic image is analyzed, the position of the ultrasonic probe is calculated, position correction parameters are estimated according to the position, and the mechanical moving device moves the ultrasonic probe according to the position correction parameters; and repeating the steps until the probe is moved to the region of interest.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention integrates a deep learning algorithm, utilizes the prior knowledge to judge and recognize the B-ultrasonic cross-section image, judges the current position and angle of the ultrasonic probe, analyzes the difference between a target region and an actual detection region and deduces the position and angle error of the current ultrasonic probe relative to an interested region.
2. The invention can deduce the position and angle error of the present ultrasonic probe relative to the interested region according to the difference between the target region and the actual detection region, guide the mechanical arm to correct the position, make the ultrasonic probe perform error reduction recursion step by step until moving to the corresponding interested region to perform imaging, guide the ultrasonic probe to move to the appointed position, and adaptively correct the error, control the ultrasonic probe to perform scanning imaging of the interested region.
3. The invention does not depend on the technique and experience of the operator, can greatly reduce the labor intensity of the operator, can effectively ensure the image quality of the ultrasound, and can be popularized in a large range.
Drawings
FIG. 1 is a schematic structural view of the present invention;
description of the drawings: 1-an ultrasonic probe; 2-an ultrasonic signal digital processing module; 3-a mechanical moving device; 4-an ultrasonic pulse excitation part; 5-a control-to-image contrast determination section; 6-ultrasonic image imaging part; 7-an echo receiving section; 8-a low noise gain amplification section; 9-AD collecting part; 10-position correction parameters section; 11-stepping motor drive circuit part.
Detailed Description
In order to make the objects, technical solutions and advantageous technical effects of the present invention clearer, the present invention is further described in detail with reference to the following embodiments. It should be understood that the embodiments described in this specification are only for explaining the present invention and are not to be limited thereto, and the specific parameter settings and the like of the embodiments can be selected according to the circumstances without substantially affecting the results.
Example 1
As shown in fig. 1, the present invention provides a device for adaptively adjusting a position of an ultrasonic probe, where the device includes an ultrasonic probe 1, an ultrasonic signal digital processing module 2, and a mechanical moving device 3, where the ultrasonic probe 1 is configured to transmit ultrasonic waves and receive echo waves, the ultrasonic signal digital processing module 2 is configured to process and analyze ultrasonic echo signals, determine a position of the ultrasonic probe and estimate a position correction parameter, and the mechanical moving device 3 controls a movement of the ultrasonic probe according to the position correction parameter.
The working flow of the device is as follows:
the ultrasonic probe 1 transmits ultrasonic waves and receives echoes, the ultrasonic signal digital processing module 2 processes ultrasonic echo signals to obtain a B ultrasonic image, the obtained B ultrasonic image is analyzed, the position of the ultrasonic probe 1 is calculated, position correction parameters are estimated according to the position, and the mechanical moving device 3 moves the ultrasonic probe according to the position correction parameters;
and repeating the steps, and performing recursive adjustment until the ultrasonic probe 1 is moved to the region of interest.
The ultrasonic signal digital processing module 2 comprises an ultrasonic pulse excitation part 4, a control and image comparison judging part 5, an ultrasonic image imaging part 6, an echo receiving part 7, a low noise gain amplification part 8, an AD acquisition part 9, a position correction parameter part 10 and a stepping motor driving circuit part 11.
The excitation and echo output of the ultrasonic probe 1 are connected to the ultrasonic signal digital processing module, the ultrasonic signal digital processing module 2 performs high-voltage pulse excitation, and the ultrasonic echo is subjected to subsequent processing. The ultrasonic pulse excitation part 4 generates high-voltage ultrasonic excitation pulses to excite the ultrasonic probe 1 to emit ultrasonic waves.
The echo receiving part 7 is used for performing impedance matching and voltage clamping on echo signals, the amplitude gain of the processed signals is enhanced after the processed signals pass through the low-noise gain amplifying part 8, the processed signals are amplified into voltage amplitude adaptive to the AD sampling part 9, the voltage amplitude is digitized after AD sampling, and the digitized signals are sent to the ultrasonic image imaging part 6 for low-pass filtering, dynamic compression, digital demodulation, interpolation and image reconstruction to form a complete B ultrasonic image.
After B-ultrasonic image is formed, the B-ultrasonic image is sent to the control and image comparison judging part 5 for analysis, the analysis process is as follows, the part integrates the deep learning algorithm, the prior knowledge is used for judging and identifying the image, if identification is possible, the specific position of the ultrasound probe 1 can be deduced, then a prediction estimate is made based on the region of interest, the distance and angle at which the ultrasound probe 1 needs to be moved are deduced, then these two values are sent to the position correction parameters section 10, which converts position information into the number of steps of a stepping motor, and then drives a stepping motor driving circuit, controls the mechanical moving device 3, moves the ultrasonic probe 1 to an estimated position, and then repeating the steps to perform recursive adjustment until the ultrasonic probe 1 is moved to the corresponding region of interest. If the image can not be identified, the processing module 2 makes the ultrasonic probe 1 move randomly, analyzes the acquired B-mode ultrasonic image, and repeats the operation until the identifiable image can be found.
The control and image comparison determining part 8 is a core part of the present invention, and is capable of analyzing a difference between a target region and an actual detection region, thereby deriving a current error value of the ultrasonic probe 1, and guiding the mechanical arm to perform position correction. The part has accumulated a large amount of machine learning results, and has a priori experience on the position of the whole fetus in a mother, so that in conventional fetus screening, the specific position of the ultrasonic probe 1 relative to the fetus can be judged according to a sectional image of the fetus, the distance and angle errors of the ultrasonic probe relative to a region of interest (including a head circumference cross section, a belly circumference cross section, a humerus and the like of the fetus) can be estimated, and then corresponding adjustment is carried out to guide the mechanical arm to correspondingly move, so that the target region of interest is approached step by means of a recursive algorithm until the target region of interest is found.
The region of interest is preset by a user before examination, the region of interest can be one or more of a head circumference cross section, a belly circumference cross section and a humerus of a fetus, when a plurality of regions of interest are set, an examination sequence is preset by the user, and the region of interest is examined sequentially according to a preset sequence during examination.
The mechanical moving device 3 is a 6-degree-of-freedom mechanical arm, the ultrasonic probe can be moved in a 6-degree-of-freedom mode to adjust the position and the angle, the mechanical arm is controlled by the ultrasonic signal digital processing module 2, and the ultrasonic signal digital processing module 2 controls all steering engines and stepping motors on the mechanical arm, so that the free motion of the mechanical arm can be controlled.
Example 2
As shown in fig. 1, the present invention provides a device for adaptively adjusting a position of an ultrasonic probe, where the device includes an ultrasonic probe 1, an ultrasonic signal digital processing module 2, and a mechanical moving device 3, where the ultrasonic probe 1 is configured to transmit ultrasonic waves and receive echo waves, the ultrasonic signal digital processing module 2 is configured to process and analyze ultrasonic echo signals, determine a position of the ultrasonic probe and estimate a position correction parameter, and the mechanical moving device 3 controls a movement of the ultrasonic probe according to the position correction parameter.
The working flow of the device is as follows:
the ultrasonic probe 1 transmits ultrasonic waves and receives echoes, the ultrasonic signal digital processing module 2 processes ultrasonic echo signals to obtain a B ultrasonic image, the obtained B ultrasonic image is analyzed, the position of the ultrasonic probe 1 is calculated, position correction parameters are estimated according to the position, and the mechanical moving device 3 moves the ultrasonic probe according to the position correction parameters;
and repeating the steps, and performing recursive adjustment until the ultrasonic probe 1 is moved to the region of interest.
The ultrasonic signal digital processing module 2 comprises an ultrasonic pulse excitation part 4, a control and image comparison judging part 5, an ultrasonic image imaging part 6, an echo receiving part 7, a low noise gain amplification part 8, an AD acquisition part 9, a position correction parameter part 10 and a stepping motor driving circuit part 11.
The excitation and echo output of the ultrasonic probe 1 are connected to the ultrasonic signal digital processing module, the ultrasonic signal digital processing module 2 performs high-voltage pulse excitation, and the ultrasonic echo is subjected to subsequent processing. The ultrasonic pulse excitation part 4 generates high-voltage ultrasonic excitation pulses to excite the ultrasonic probe 1 to emit ultrasonic waves.
The echo receiving part 7 is used for performing impedance matching and voltage clamping on echo signals, the amplitude gain of the processed signals is enhanced after the processed signals pass through the low-noise gain amplifying part 8, the processed signals are amplified into voltage amplitude adaptive to the AD sampling part 9, the voltage amplitude is digitized after AD sampling, and the digitized signals are sent to the ultrasonic image imaging part 6 for low-pass filtering, dynamic compression, digital demodulation, interpolation and image reconstruction to form a complete B ultrasonic image.
After B-ultrasonic image is formed, the B-ultrasonic image is sent to the control and image comparison judging part 5 for analysis, the analysis process is as follows, the part integrates the deep learning algorithm, the prior knowledge is used for judging and identifying the image, if identification is possible, the specific position of the ultrasound probe 1 can be deduced, then a prediction estimate is made based on the region of interest, the distance and angle at which the ultrasound probe 1 needs to be moved are deduced, then these two values are sent to the position correction parameters section 10, which converts position information into the number of steps of a stepping motor, and then drives a stepping motor driving circuit, controls the mechanical moving device 3, moves the ultrasonic probe 1 to an estimated position, and then repeating the steps to perform recursive adjustment until the ultrasonic probe 1 is moved to the corresponding region of interest. If the image can not be identified, the processing module 2 makes the ultrasonic probe 1 move randomly, analyzes the acquired B-mode ultrasonic image, and repeats the operation until the identifiable image can be found.
The control and image comparison determining part 8 is a core part of the present invention, and is capable of analyzing a difference between a target region and an actual detection region, thereby deriving a current error value of the ultrasonic probe 1, and guiding the mechanical arm to perform position correction. The part has accumulated a large amount of machine learning results, and has a priori experience on the position of the whole fetus in a mother, so that in conventional fetus screening, the specific position of the ultrasonic probe 1 relative to the fetus can be judged according to a sectional image of the fetus, the distance and angle errors of the ultrasonic probe relative to a region of interest (including a head circumference cross section, a belly circumference cross section, a humerus and the like of the fetus) can be estimated, and then corresponding adjustment is carried out to guide the mechanical arm to correspondingly move, so that the target region of interest is approached step by means of a recursive algorithm until the target region of interest is found.
The method comprises the steps that an interested area is preset by a user before examination, the interested area can be one or more of a fetal head circumference cross section, a ventral circumference cross section and a humerus, when a plurality of interested areas are set, an examination sequence is automatically determined in the examination according to a minimum movement distance principle, after the initial position of an ultrasonic probe 1 is determined, the position of interest with the closest distance is detected, the ultrasonic probe 1 is moved to the position to be detected, then the next position of interest with the closest distance is detected, and the like is carried out until all examinations are finished.
The mechanical moving device 3 is a 6-degree-of-freedom mechanical arm, the ultrasonic probe can be moved in a 6-degree-of-freedom mode to adjust the position and the angle, the mechanical arm is controlled by the ultrasonic signal digital processing module 2, and the ultrasonic signal digital processing module 2 controls all steering engines and stepping motors on the mechanical arm, so that the free motion of the mechanical arm can be controlled.
Although the preferred embodiments of the present patent have been described in detail, the present patent is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present patent within the knowledge of those skilled in the art.
Claims (4)
1. A device for adaptively adjusting the position of an ultrasonic probe is characterized by comprising the ultrasonic probe, an ultrasonic signal digital processing module and a mechanical moving device, wherein the ultrasonic probe is used for transmitting ultrasonic waves and receiving echo waves, the ultrasonic signal digital processing module is used for processing and analyzing ultrasonic echo signals, judging the position of the ultrasonic probe and estimating position correction parameters, and the mechanical moving device controls the movement of the ultrasonic probe according to the position correction parameters; the control and image comparison judging part judges and identifies the ultrasonic image by machine learning, if the ultrasonic image can be identified, the specific position of the ultrasonic probe is calculated, then a prediction estimation is carried out according to the region of interest, the distance and the angle of the ultrasonic probe to be moved are calculated, and the two values are sent to the position correction parameter part; if the image can not be identified, the processing module makes a random movement on the ultrasonic probe, analyzes the acquired B ultrasonic image, and repeats the operation until the identifiable image can be found; the region of interest is one or more of a head circumference cross section, a belly circumference cross section and a humerus of a fetus; when a plurality of interested areas are provided, the user presets an inspection sequence, the interested areas are inspected in sequence according to the preset sequence during the inspection, the excitation and echo output of the ultrasonic probe are connected to the ultrasonic signal digital processing module, the ultrasonic signal digital processing module performs high-voltage pulse excitation and performs subsequent processing on the ultrasonic echo, and when the number of interested areas is multiple, the inspection sequence is automatically determined according to the minimum moving distance principle during the inspection.
2. The apparatus of claim 1, wherein the ultrasonic signal digital processing module comprises an ultrasonic pulse excitation part, a control and image contrast judging part, an ultrasonic image imaging part, an echo receiving part, a low noise gain amplifying part, an AD acquisition part, a position correction parameter part and a stepping motor driving circuit part.
3. The device according to claim 1, wherein the mechanical moving device is a 6-degree-of-freedom mechanical arm, the ultrasonic probe can be moved in a 6-degree-of-freedom manner to adjust the position and the angle, the mechanical arm is controlled by the ultrasonic signal digital processing module, and the ultrasonic signal digital processing module controls all steering engines and stepping motors on the mechanical arm, so that the free motion of the mechanical arm can be controlled.
4. A method for adaptively adjusting the position of an ultrasonic probe based on the device of any one of claims 1 to 3, wherein the method comprises the following steps:
the ultrasonic probe transmits ultrasonic waves and receives echoes, the ultrasonic signal digital processing module processes ultrasonic echo signals to obtain a B ultrasonic image, the obtained B ultrasonic image is analyzed, the position of the ultrasonic probe is calculated, position correction parameters are estimated according to the position, and the mechanical moving device moves the ultrasonic probe according to the position correction parameters; and repeating the steps until the ultrasonic probe is moved to the region of interest.
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| CN107684439A (en) * | 2017-09-12 | 2018-02-13 | 乐普（北京）医疗器械股份有限公司 | A kind of strain figure recognition methods based on ultrasonic Transient elastography technology |
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2018
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