CN110575196A - ultrasonic probe and puncture surgery system - Google Patents
ultrasonic probe and puncture surgery system Download PDFInfo
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- CN110575196A CN110575196A CN201810593796.4A CN201810593796A CN110575196A CN 110575196 A CN110575196 A CN 110575196A CN 201810593796 A CN201810593796 A CN 201810593796A CN 110575196 A CN110575196 A CN 110575196A
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- inclination angle
- detection element
- head assembly
- sound head
- tilt
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/42—Details of probe positioning or probe attachment to the patient
- A61B8/4209—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames
- A61B8/4218—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames characterised by articulated arms
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/42—Details of probe positioning or probe attachment to the patient
- A61B8/4245—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient
- A61B8/4254—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient using sensors mounted on the probe
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
- A61B8/4416—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device related to combined acquisition of different diagnostic modalities, e.g. combination of ultrasound and X-ray acquisitions
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3413—Needle locating or guiding means guided by ultrasound
Abstract
the present invention provides an ultrasonic probe, including: a sonotrode assembly for acquiring an ultrasound image of a target; the inclination angle detection element is fixed relative to the sound head assembly; the inclination angle detection element is used for detecting the inclination angle posture of the sound head assembly in real time; the inclination angle transmission module is relatively fixed with the sound head assembly; the inclination angle transmission module is coupled with the inclination angle detection element and is used for transmitting the inclination angle posture detected by the inclination angle detection element to external equipment. Guarantee the positioning accuracy of sound head subassembly gesture, improve external equipment and fuse the inclination gesture of sound head subassembly and medical imaging device's static three-dimensional image, and then improve the identifiability of ultrasonic image, conveniently intervene the operation in the puncture better help medical personnel location focus position, the operation process is intervene in the control puncture. The invention also provides a puncture surgery system.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to an ultrasonic probe with posture detection kinetic energy and a puncture surgery system.
Background
the ultrasonic imaging technology has very important functions in the aspects of disease diagnosis and guided interventional therapy, and is widely applied to a plurality of departments in hospitals at all levels. However, conventional B-mode ultrasound images are relatively blurred compared to the high anatomical resolution and contrast of CT and MR images, and identification of lesions requires rigorous training by physicians. An innovative method is to fuse the high-resolution static three-dimensional image of CT or MR with the dynamic sectional image of ultrasound to improve the identifiability of the ultrasound image, and better help the doctor to locate the focus and monitor the treatment process in the interventional operation.
Fusing the CT/MR and the ultrasonic image, and obtaining the position and posture parameters of the ultrasonic scanning probe relative to a CT/MR three-dimensional image coordinate system; the system makes a virtual tangent plane for the three-dimensional CT/MR data according to the position and the posture of the ultrasonic scanning probe, and then carries out registration and fusion on a tangent plane image and a plane image scanned by the current ultrasonic probe, wherein the fused image has the high resolution of the CT/MR image and the acoustic dynamic characteristic of an ultrasonic image.
the existing methods for acquiring the position and the posture of the ultrasonic probe comprise the following steps:
The mechanical type: the ultrasonic probe is fixed on a mechanical support arm with multiple degrees of freedom, and the position and the posture of the ultrasonic probe can be obtained by calculating the structural size of the mechanical support arm and the data of an angle sensor on the mechanical support arm;
electromagnetic type: placing more than 2 electromagnetic marks on the ultrasonic probe, and calculating the spatial position and the attitude of the ultrasonic probe by detecting the positions of the electromagnetic marks by the electromagnetic sensor;
The visual formula is as follows: more than 2 optical marks are placed on the ultrasonic probe, the stereoscopic vision system obtains the position information of each optical mark through image processing calculation, and the spatial position and the posture of the ultrasonic probe are further obtained through calculation;
The above techniques have no problem in principle, but have different degrees of difficulty in the implementation process and different positioning accuracy. Specifically, the mechanical positioning method is heavy, the requirements on the rigidity and the dimensional accuracy of the mechanical support arm and the accuracy of the angle sensor are high, and the gain of the error is larger along with the increase of the degree of freedom; the electromagnetic positioning method has more applications and good effect, but the electromagnetic positioning equipment is more complex and expensive; the visual positioning method has the defects that a plurality of optical marks cannot be shielded, the optical marks need to be arranged on a larger frame, the coordinate precision obtained by visual calculation is limited, and a high-performance stereoscopic vision system is expensive.
In conclusion, the problems of high cost and poor positioning precision exist in the process of acquiring the position posture of the ultrasonic probe, and the positioning accuracy of the ultrasonic probe is influenced.
Disclosure of Invention
therefore, it is necessary to provide an ultrasound probe capable of reducing cost and ensuring positioning accuracy, aiming at the problems of high cost and poor positioning accuracy in the conventional method for acquiring the position and the posture of the ultrasound probe.
The above purpose is realized by the following technical scheme:
An ultrasound probe, comprising:
a sonotrode assembly for acquiring an ultrasound image of a target;
The inclination angle detection element is fixed relative to the sound head assembly; the inclination angle detection element is used for detecting the inclination angle posture of the sound head assembly in real time; and
The inclination angle transmission module is relatively fixed with the sound head assembly; the inclination angle transmission module is coupled with the inclination angle detection element and is used for transmitting the inclination angle posture detected by the inclination angle detection element to external equipment.
In one embodiment, the ultrasound probe further comprises a probe housing, the acoustic head assembly being located at an end of the probe housing;
the inclination angle detection element and the inclination angle transmission module are both arranged in the probe shell.
In one embodiment, the tilt angle detection element and the tilt angle transmission module are detachably mounted on the sound head assembly.
In one embodiment, the ultrasonic probe further comprises an auxiliary clamp, the inclination angle detection element and the inclination angle transmission module are both arranged on the auxiliary clamp, and the auxiliary clamp detachably clamps the sound head assembly.
In one embodiment, the auxiliary clamp includes a clamping portion and a fixing portion, the fixing portion is disposed on the clamping portion, the tilt angle detection element and the tilt angle transmission module are both disposed in the fixing portion, and the clamping portion is detachably clamped on the sound head assembly.
in one embodiment, the auxiliary clamp further comprises a lining, the lining is arranged on the inner side of the clamping portion, the clamping portion is clamped on the sound head assembly, and the lining can be in contact with the sound head assembly.
In one embodiment, the ultrasound probe further includes a power supply part electrically connected to the tilt angle detection element and the tilt angle transmission module, respectively.
In one embodiment, the ultrasonic probe further comprises a processing component, the processing component is in transmission connection with the inclination angle detection element and the inclination angle transmission module, and the processing component can acquire an actual inclination angle of the sound head component according to the inclination angle posture of the sound head component and transmit the actual inclination angle to the external image fusion equipment.
In one embodiment, the ultrasonic probe further comprises positioning marks which are arranged on the sound head assembly or the pose detection assembly and are used for enabling an external positioning device to position the space coordinate position of the sound head assembly.
in one embodiment, the inclination angle posture detection element is one or more of an acceleration sensor, a pressure sensor, a magnetometer, a gyroscope and an MEMS chip;
The inclination angle transmission module comprises a radio frequency transmission module, an infrared data transmission module or a wired transmission module.
A puncture surgical system comprising:
A robot including a mechanical arm;
An ultrasound probe connected to the mechanical arm, the ultrasound probe comprising:
A sonotrode assembly for acquiring an ultrasound image of a target; and
The inclination angle detection element is fixed relative to the sound head assembly; the inclination angle detection element is used for detecting the inclination angle posture of the sound head assembly in real time;
A processing unit that plans an inclination pose of the sound head assembly based on a real-time position of a puncture needle within the target such that the puncture needle is within an imaging range of the sound head assembly, and compares the detected real-time inclination pose and the planned inclination pose;
An adjustment assembly coupled to the robotic arm to adjust the robotic arm to bring the detected tilt attitude into conformance with a planned tilt attitude when the detected real-time tilt attitude and the planned tilt attitude are not in conformance.
In one embodiment, the tilt angle detecting element and the processing unit are transmitted by radio frequency or infrared or wire.
In one embodiment, the ultrasound probe further comprises a power supply member electrically connected to at least the tilt angle detection element.
in one embodiment, the tilt posture detecting element includes one or more of an acceleration sensor, a pressure sensor, a magnetometer, a gyroscope, and a MEMS chip.
After the technical scheme is adopted, the invention has the beneficial effects that:
The ultrasonic probe and the puncture surgery system adopt the inclination angle detection element to detect the inclination angle posture of the sound head component in real time, and transmit the inclination angle posture of the sound head component to external equipment in real time through the inclination angle transmission module; therefore, the problems of high cost and poor positioning precision existing in the process of acquiring the position posture of the ultrasonic probe at present are effectively solved, the positioning precision of the inclination angle posture of the sound head assembly is ensured, the fusion precision of a two-dimensional dynamic image of the sound head assembly of external equipment and static images of other medical imaging equipment is improved, the identifiability of an ultrasonic image is further improved, medical workers can be better helped to position a focus position in a puncture interventional operation, and the puncture interventional operation process is monitored; meanwhile, the ultrasonic probe realizes the detection and transmission of the inclination angle posture of the sound head assembly by adopting a mode of matching the inclination angle detection element with the inclination angle transmission module, and can greatly reduce the cost compared with the prior mechanical, electromagnetic and visual positioning methods.
drawings
FIG. 1 is a schematic structural diagram of an ultrasound probe according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an ultrasound probe according to another embodiment of the present invention;
FIG. 3 is a schematic structural diagram of an ultrasound probe according to yet another embodiment of the present invention;
FIG. 4 is a schematic view of the ultrasound probe of FIG. 3 with the applicator assembly removed;
FIG. 5 is a partial top view of an auxiliary clamp of the ultrasound probe shown in FIG. 3;
FIG. 6 is a schematic diagram of the connection between the power supply unit and the tilt angle detection element and the tilt angle transmission module in the ultrasonic probe according to the present invention;
FIG. 7 is a schematic view of an ultrasound probe of the present invention in cooperation with an external device;
Fig. 8 is a schematic diagram of the ultrasound probe of the present invention with additional positional information.
Wherein:
100-an ultrasound probe;
110-a sound head assembly;
120-pose detection component; 121-tilt angle detection element; 122-tilt angle transmission module;
130-a housing;
140-a processing unit;
150-an auxiliary clamp; 151-a clamping portion; 152-a fixed part; 153-inner liner; 154-a screw;
160-a power supply member;
170-positioning marks;
200-an external positioning device;
300-an ultrasound workstation;
400-image processing equipment.
Detailed Description
in order to make the objects, technical solutions and advantages of the present invention more apparent, the ultrasonic probe and the puncture surgery system of the present invention are further described in detail by the following embodiments, which are taken in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings). In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
in the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
referring to fig. 1 to 3, the present invention provides an ultrasound probe 100, where the ultrasound probe 100 is used to perform two-dimensional dynamic imaging on a target, i.e. an object to be scanned, so as to facilitate medical staff to observe dynamic information of the object to be scanned in real time; moreover, when the puncture interventional operation is performed on the object to be scanned, the ultrasonic probe 100 can also monitor the actual motion path of the puncture component in the object to be scanned in real time, so that the puncture component can accurately extend into the object to be scanned. The ultrasonic probe 100 of the invention can be positioned in real time, so as to improve the static image fusion precision of the ultrasonic probe 100 and medical imaging equipment, further improve the identifiability of images, conveniently help medical staff to position the focus position and monitor the treatment process. It is understood that the object to be scanned may be a lesion site or a non-lesion site. Of course, the ultrasound probe 100 of the present invention may also be used as a distal measurement for a telerobotic ultrasound scanning system to provide feedback for accurate positioning of the sonotrode assembly 110.
the two-dimensional dynamic image acquired by the ultrasound probe 100 can be fused with a static image of other medical imaging devices, such as a static three-dimensional image. The medical imaging apparatus may be one or more of a Computer Tomography (CT) apparatus, a Magnetic Resonance imaging (MR) apparatus, a positron emission Tomography (pet) apparatus, a radiotherapy apparatus, an X-ray imaging apparatus, a single photon emission Computed Tomography (pet) apparatus, and the like. The static image acquired and reconstructed by the other medical imaging devices can be fused with the two-dimensional dynamic image acquired by the ultrasound probe 100, specifically: the fusion system can make a virtual tangent plane for the static images of other medical imaging devices according to the position and the inclination posture of the ultrasonic probe 100, and then register and fuse the tangent plane images with the two-dimensional dynamic images scanned by the current ultrasonic probe 100, wherein the fused images have both high resolution of the static images and acoustic dynamic characteristics of the two-dimensional dynamic images, provide images with larger information content for operation navigation and image diagnosis, and are convenient for helping doctors to position focus positions and monitor the treatment process in the puncture interventional operation.
In the present invention, the ultrasonic probe 100 includes a sound head assembly 110, a tilt angle detecting element 121, and a tilt angle transmitting module 122. The sound head assembly 110 is used for scanning the object to be scanned to acquire a two-dimensional dynamic image. The acoustic head assembly 110 is an ultrasonic probe, and the type thereof is not limited in principle as long as it can receive or emit sound waves. Illustratively, the acoustic head assembly 110 may be a conventional acoustic head assembly 110, including, for example, a transducer array, a matching layer, backing acoustic material, an acoustic lens, a signal connection board, and the like; the acoustic head assembly 110 may also be other art acoustic head assemblies 110, such as a CMUT (Capacitive micro machined Ultrasonic Transducer) acoustic head; the applicator assembly 110 may also be a conventional ultrasound probe. It is understood that the pose detection assembly 120 is applicable to all types of present day sound head assemblies 110, such as: linear array probes, convex array probes, phased array probes, or wireless probes integrated with signal transmitting and receiving devices, etc.
the inclination angle detection element 121 is configured to detect an inclination angle posture of the acoustic head assembly 110 at the current position in real time, and feed back the inclination angle posture to an external device such as an upper computer, an industrial personal computer, an external image processing device 400, and the like. In the present invention, the external device is the external image processing device 400. The external image processing device 400 detects the inclination angle posture of the sound head assembly 110 at the current position according to the inclination angle detection element 121, makes a virtual tangent plane to the static image of the medical imaging device, and then registers and fuses the tangent plane image and the two-dimensional dynamic image corresponding to the inclination angle posture to obtain a recognizable multi-modal image, thereby facilitating the monitoring and treatment of medical staff. Moreover, the inclination angle detecting element 121 and the sound head assembly 110 are relatively fixed, so that the inclination angle detecting element 121 and the sound head assembly 110 have a relatively fixed position relationship, inclination angle posture data detected by the position detecting assembly is unique, and accuracy of a detection result is ensured.
the relative position of the tilt angle transmission module 122 and the sound head assembly 110 is fixed, so that reliable information transmission is ensured. The tilt angle transmission module 122 is coupled to the tilt angle detection element 121, and the tilt angle transmission module 122 is configured to transmit the tilt angle gesture detected by the tilt angle detection element 121 to an external device. The tilt angle detecting element 121 can detect the tilt angle posture of the sound head assembly 110 at the current position in real time and transmit the tilt angle posture to the tilt angle transmitting module 122, the tilt angle transmitting module 122 transmits the tilt angle posture of the sound head assembly 110 to the external image processing device 400, and the external image processing device 400 fuses the two-dimensional dynamic image and the static image according to the tilt angle posture of the sound head assembly 110 at the current position detected by the posture detecting element 120.
the inclination angle detection element 121 can detect the real-time spatial inclination angle posture of the therapeutic apparatus in real time, so that the position of the inclination angle detection element 121 in the space is conveniently monitored, and further, the medical care personnel can conveniently control the therapeutic apparatus. The tilt angle detecting element 121 is one or more of an acceleration sensor, a pressure sensor, a magnetometer, a gyroscope, and an MEMS chip. The tilt angle detecting element 121 includes, but is not limited to, an acceleration sensor, a magnetometer, a gyroscope, an encoder, a pressure sensor, or the like, to detect the current pitch, yaw, and yaw angles of the acoustic head assembly 110. It is understood that the tilt angle detecting element 121 may take various forms to detect the tilt angle posture of the sound head assembly 110 in real time. For example, a triaxial acceleration sensing chip of a Micro-Electro-Mechanical System (MEMS) process may be used to measure the stress of the three axes of the sound head assembly 110 under different tilt angles by the triaxial acceleration sensing chip, so as to calculate the tilt angle of the sound head assembly 110; a plurality of MEMS acceleration sensors may also be used, the acceleration sensors calculate the tilt angle of the acoustic head assembly 110 with respect to the horizontal plane by measuring acceleration due to gravity, and tilt angle attitude estimation with higher accuracy can be improved by fusing the plurality of acceleration sensors; the tilt attitude of the acoustic head assembly 110 may also be calculated by measuring the angular velocities in different directions using a three-axis gyroscope or a plurality of single-axis gyroscopes; the more accurate inclination angle attitude estimation can be obtained by fusing data acquired by various measuring means such as an acceleration sensor and a gyroscope which are used in an overlapping way; and so on. The inclination detecting element has the characteristics of autonomous measurement, can be used without other cumbersome auxiliary tools, can measure the inclination posture of the inclination detecting element, is convenient to operate and use, can continuously measure the inclination of a therapeutic apparatus in real time, ensures the accuracy of the measurement result of the inclination posture, can reduce the weight of the puncture operation device, and is convenient for medical personnel to hold.
the tilt angle transmission module 122 includes a radio frequency transmission module, an infrared data transmission module, or a wired transmission module. The tilt angle transmission module 122 can transmit the tilt angle gesture to the external image processing device 400. A transmission connection in the present invention means a communication connection and/or an electrical connection. The tilt angle transmission module 122 transmits the tilt angle posture of the tilt angle detection element 121 detecting the tilt angle of the acoustic head assembly 110 in real time to the external image processing device 400, and may adopt radio frequency transmission (bluetooth, Zigbee or other ISM band low power consumption wireless transmission technology), infrared data transmission, and wired transmission in some occasions, such as RS232 serial port, USB, and the like.
The ultrasonic probe 100 of the invention detects the inclination angle posture of the sound head assembly 110 in real time through the inclination angle detection element 121, and transmits the inclination angle posture to the external image processing device 400 through the inclination angle transmission module 122, the external image processing device 400 detects the inclination angle posture of the sound head assembly 110 at the current position according to the posture detection assembly 120 to fuse the two-dimensional dynamic image and the static image, thereby effectively solving the problems of high cost and poor positioning precision of the currently obtained position posture of the ultrasonic probe, ensuring the positioning precision of the inclination angle posture of the sound head assembly 110, improving the fusion precision of the two-dimensional dynamic image of the sound head assembly 110 and the static image of other medical imaging devices by the external device, further improving the identifiability of the ultrasonic image, facilitating better helping medical personnel to position a focus position in the puncture interventional operation and monitoring the puncture interventional operation process; meanwhile, the ultrasonic probe 100 of the present invention uses the inclination detecting element 121 and the inclination transmitting module 122 to cooperate to achieve the posture detection and transmission of the acoustic head assembly 110, which can greatly reduce the cost compared with the current mechanical, electromagnetic and visual positioning methods.
referring to fig. 1, in one embodiment of the present invention, the ultrasound probe 100 further includes a probe housing 130, and the acoustic head assembly 110 is located at an end of the probe housing 130. The tilt angle detecting element 121 and the tilt angle transmitting module 122 are disposed in the probe housing 130. That is, the relative fixing of the position between the acoustic head assembly 110 and the inclination detecting element 121 is ensured by the probe housing 130. The inclination angle detecting element 121 and the acoustic head assembly 110 may be fixed by using a common PCB, and the inclination angle detecting element 121 may also be fixed to the probe housing 130 by using a fixing member. Thus, the inclination angle detection element 121 and the sound head assembly 110 have a determined orientation and coordinate relationship, that is, a one-to-one mapping relationship exists between the orientation of the imaging section of the sound head assembly 110 and the posture data of the inclination angle detection element 121, and accurate image fusion is ensured.
Referring to fig. 2, in another embodiment of the present invention, the tilt angle detecting element 121 and the tilt angle transmitting module 122 are detachably mounted on the acoustic head assembly 110. The acoustic head assembly 110 may be an independent structure with the tilt angle detecting element 121 and the tilt angle transmitting module 122, the tilt angle detecting element 121 and the tilt angle transmitting module 122 are integrated together to form an integral structure, and the integral structure is mounted on the acoustic head assembly 110. It is to be understood that the posture detecting assembly 120 is detachably attached to the sound head assembly 110, but may be fixed to the sound head assembly 110 by non-detachable means such as gluing. The detachable connection means includes, but is not limited to, a snap-in type, a suction type, a screw fastening type, and the like. After the inclination angle detecting element 121 and the sound head assembly 110 are combined together, a determined orientation and coordinate relationship is provided, that is, a one-to-one mapping relationship is provided between the imaging section orientation of the sound head assembly 110 and the posture data of the pose detecting assembly 120, so that accurate image fusion is ensured.
referring to fig. 3 to 5, in another embodiment of the present invention, the ultrasonic probe 100 further includes an auxiliary fixture 150, the tilt angle detecting element 121 and the tilt angle transmitting module 122 are disposed on the auxiliary fixture 150, and the auxiliary fixture 150 detachably clamps the acoustic head assembly 110. The tilt angle detection element 121 and the tilt angle transmission module 122 are fixed on the auxiliary fixture 150 and fixed with the sound head assembly 110 through the auxiliary fixture 150, and a unique coordinate mapping relation is established between the detection data of the tilt angle detection element 121 and the sound head assembly 110, so as to ensure the accuracy of the tilt angle detection element 121 in calculating the actual tilt angle posture data. The auxiliary clamp 150 may be clamped at any position on the acoustic head assembly 110 as long as it does not affect the ultrasonic imaging.
It will be appreciated that in this embodiment, the acoustic head assembly 110 includes a handle and a probe. The probe is located at the end of the handle. It is understood that the auxiliary clamp 150 can be clamped on the handle, on the sound head, as long as the scanning imaging of the probe is not affected, and of course, can also be clamped between the handle and the probe. After the auxiliary clamp 150 is clamped at the position, the auxiliary clamp 150 and the probe are relatively fixed, so that the inclination angle posture of the sound head assembly 110 detected by the auxiliary clamp 150 corresponds to the imaging of the probe one by one, the spatial inclination angle posture of the sound head assembly 110 is convenient to adjust, and meanwhile, the imaging section orientation of the sound head assembly 110 can be fused with other images conveniently.
further, the auxiliary fixture 150 includes a clamping portion 151 and a fixing portion 152, the fixing portion 152 is disposed on the clamping portion 151, the tilt angle detecting element 121 and the tilt angle transmitting module 122 are disposed in the fixing portion 152, and the clamping portion 151 is detachably clamped on the sound head assembly 110. The positions of the clamping portion 151 and the fixing portion 152 are fixed relative to each other to ensure the fixed position between the tilt angle detecting element 121 and the acoustic head assembly 110. In this embodiment, the clamping portion 151 and the fixing portion 152 are integrated, but the clamping portion 151 and the fixing portion 152 may be detachably connected. The clamping portion 151 clamps the sound head assembly 110 therebetween using two clamping members connected by a hinge and is locked by a screw 154. Specifically, the two clamping members are closed to form a closed cavity, the sound head assembly 110 is installed in the cavity, one ends of the two clamping members are hinged through a hinge, and the other ends of the two clamping members are locked and fixed through a screw 154. Of course, in another embodiment of the present invention, the auxiliary jig 150 may be used as a carrier, and the tilt angle detection element 121, the tilt angle transmission module 122, and the like may be mounted on the auxiliary jig 150 through other external structures.
Still further, the auxiliary clamp 150 further includes a lining 153, the lining 153 is disposed inside the clamping portion 151, the clamping portion 151 is clamped on the sound head assembly 110, and the lining 153 can contact the sound head assembly 110. In order to prevent the sound head assembly 110 from being damaged by squeezing, a layer of lining 153 is arranged on the inner side of the clamping part 151, namely the clamping piece, and the lining 153 can play a role in fastening, preventing falling and preventing damage. Optionally, the liner 153 is made of an elastomeric material. It will be appreciated that the clip portion 151 is in contact with the handle and/or probe of the acoustic head assembly 110 via the inner liner 153.
Referring to fig. 1 to 3 and 6, as an implementation manner, the ultrasonic probe 100 further includes a power supply member 160, and the power supply member 160 is electrically connected to the tilt angle detecting element 121 and the tilt angle transmitting module 122, respectively, and supplies power to the tilt angle detecting element 121 and the tilt angle transmitting module 122, respectively. The power supply part 160 ensures that the tilt angle detecting element 121 and the tilt angle transmitting module 122 operate normally. Alternatively, the power supply part 160 may supply power to the inclination angle detecting element 121 and the inclination angle transmitting module 122 by wired power supply or wireless power supply. For example, the power can be supplied by a battery or a super capacitor, or can be supplied externally by a cable, or can be supplied by a button battery or a lithium battery with small volume and large capacity.
Referring to fig. 3 and 4, as an implementation manner, the ultrasonic probe 100 further includes a processing component 140, the processing component 140 is in transmission connection with the inclination angle detecting element 121 and the inclination angle transmitting module 122, and the processing component 140 can acquire an actual inclination angle of the acoustic head assembly 110 according to the inclination angle posture of the acoustic head assembly 110 and transmit the actual inclination angle to an external device. The processing component 140 can acquire the tilt pose of the acoustic head assembly 110 and process the tilt pose. It is understood that the processing herein refers to calculating the inclination attitude detected by the inclination detecting element 121 into the actual angle of the sound head assembly 110 by the attitude model. The method specifically comprises the following steps: the processing component 140 obtains the original data detected by the tilt angle detecting element 121, estimates the actual tilt angle of the sound head component 110 through the attitude model, and sends the actual tilt angle to the external image processing device 400 through the tilt angle transmission module 122 for real-time fusion, thereby ensuring the precision of image fusion. It is understood that the tilt angle detecting element 121, the processing unit 140 and the tilt angle transmitting module 122 may be integrally implemented by one integrated chip, or may be implemented in different chips.
Referring to fig. 7, as an implementation, the ultrasound probe 100 further includes positioning markers 170, the positioning markers 170 are disposed on the sound head assembly 110 or the pose detection assembly 120, and the positioning markers 170 are used for enabling the external positioning device 200 to position the spatial coordinate position of the sound head assembly 110. The external pointing device 200 here may be a visual imaging device, a mechanical visual pointing device, or an electromagnetic pointing device, among others. The external positioning device 200 can calibrate the position of the ultrasonic probe 100 in the operation region through the positioning mark 170, and in combination with the inclination angle posture of the sound head assembly 110 detected by the inclination angle detecting element 121, can accurately obtain the three-dimensional space posture of the ultrasonic probe 100.
The ultrasound probe 100 of the present invention is capable of still image fusion with other medical imaging devices. The ultrasound probe 100 is used in cooperation with an ultrasound workstation 300, the ultrasound workstation 300 is in transmission connection with an image processing device 400, and an external positioning device 200 is also in transmission connection with the image processing device 400. The ultrasound workstation 300 transmits the two-dimensional dynamic image acquired by the acoustic head assembly 110 to the external image processing apparatus 400, and also transmits the tilt angle posture of the acoustic head assembly 110 to the external image processing apparatus 400. The external positioning device 200 positions the spatial coordinate position of the ultrasonic probe 100 through the positioning mark 170 and feeds back the position to the external image processing device 400, and the tilt angle posture data of the acoustic head assembly 110 can be obtained by the tilt angle detection element 121 of the external positioning device itself; the external image processing device 400 can calculate the position of the working cross section of the ultrasonic probe 100 according to the spatial position coordinates and the tilt angle posture data of the acoustic head assembly 110. The external image processing device 400 can calculate the anatomical structure image on the ultrasound section as the reference image according to the working section position and the static image data acquired from other medical imaging devices (such as CT or MR); the reference image can be used for directly guiding medical personnel to judge the ultrasonic image, and the ultrasonic image and the reference image can be fused into an image by further adopting an image registration and fusion method. The fused image has the high resolution of a static image and the acoustic dynamic characteristic of a two-dimensional dynamic image, provides an image with larger information amount for operation navigation and image diagnosis, and is convenient for better helping a doctor to position a focus position in a puncture interventional operation and monitoring a treatment process.
Referring to fig. 8, it is needless to say that a piece of positional information may be added to the ultrasound probe 100, that is, a piece of positional information may be added to the two-dimensional dynamic image. As the scanning position and direction of the sound head assembly 110 are switched, a series of two-dimensional dynamic images with orientation marks are recorded and can be used for three-dimensional reconstruction.
The ultrasonic probe 100 of the invention can independently complete the detection of the inclination angle posture of the sound head component 110, and does not need high-precision electromagnetic positioning equipment or visual equipment to accurately position a plurality of identification points on the sound head component 110; only one positioning mark 170 of the sound head assembly 110 needs to be subjected to coordinate positioning; the precision of the inclination posture direction of the acoustic head assembly 110 is detected by the inclination detecting element 121 of the acoustic head assembly, so that the precision of the external positioning equipment 200 is not required to be strict any more, and the cost can be greatly reduced.
the invention also provides a puncture surgery system which is used for performing puncture surgery on a patient. The puncture surgical system includes a robot, an adjustment assembly (not shown), and an ultrasound probe 100 as in any of the embodiments described above. The robot comprises a mechanical arm, the ultrasonic probe is connected to the mechanical arm, and the ultrasonic probe 100 is driven to move through the mechanical arm, so that an ultrasonic image of an object to be scanned is acquired. The specific structure of the ultrasonic probe 100 has been mentioned in the above embodiments, and is not described herein. The adjusting component is connected to the mechanical arm and can play a role in adjusting and is used for adjusting the position and the angle of the mechanical arm. And when the detected real-time inclination angle posture is inconsistent with the planned inclination angle posture, adjusting the mechanical arm to enable the detected inclination angle posture of the ultrasonic probe to be consistent with the planned inclination angle posture. The puncture surgery system drives the ultrasonic probe 100 to scan an object to be scanned through the mechanical arm, and meanwhile, the inclination angle posture of the ultrasonic probe 100 can be adjusted in real time through the adjusting assembly, so that the accuracy of the ultrasonic probe 100 for acquiring an ultrasonic image is guaranteed.
further, the ultrasound probe 100 has a processing unit 140, and the processing unit 140 has the same structure and operation manner as the processing unit 140 in the above-described embodiment. Furthermore, in this embodiment, the ultrasound probe 140 may be used in conjunction with a puncture needle, and specifically, the processing unit 140 may be further configured to plan the tilt posture of the sound head assembly 110 according to the real-time position of the puncture needle within the target so that the puncture needle is within the imaging range of the sound head assembly 100, and compare the detected real-time tilt posture with the planned tilt posture, and adjust the robotic arm so that the detected tilt posture is consistent with the planned tilt posture when the detected real-time tilt posture is not consistent with the planned tilt posture. That is, when the puncture operation is performed, adjusting the inclination angle posture of the ultrasonic probe 100 can also enable the ultrasonic probe 100 to detect the motion track of the puncture needle in real time, so as to monitor the motion path of the puncture needle in real time, ensure the accurate motion of the puncture needle, and further improve the safety of the puncture operation.
the technical features of the embodiments described above can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
the above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (14)
1. An ultrasound probe, comprising:
a sonotrode assembly for acquiring an ultrasound image of a target;
the inclination angle detection element is fixed relative to the sound head assembly; the inclination angle detection element is used for detecting the inclination angle posture of the sound head assembly in real time; and
The inclination angle transmission module is relatively fixed with the sound head assembly; the inclination angle transmission module is coupled with the inclination angle detection element and is used for transmitting the inclination angle posture detected by the inclination angle detection element to external equipment.
2. The ultrasound probe of claim 1, further comprising a probe housing, the horn assembly being located at an end of the probe housing;
The inclination angle detection element and the inclination angle transmission module are both arranged in the probe shell.
3. The ultrasound probe of claim 1, wherein the tilt detection element and the tilt transmission module are removably mounted to the sonotrode assembly.
4. The ultrasonic probe of claim 1, further comprising an auxiliary fixture, wherein the tilt angle detection element and the tilt angle transmission module are both disposed on the auxiliary fixture, and the auxiliary fixture detachably clamps the sound head assembly.
5. the ultrasonic probe according to claim 4, wherein the auxiliary clamp comprises a clamping portion and a fixing portion, the fixing portion is disposed on the clamping portion, the tilt angle detection element and the tilt angle transmission module are both disposed in the fixing portion, and the clamping portion is detachably clamped on the acoustic head assembly.
6. The ultrasound probe of claim 5, wherein the auxiliary clamp further comprises a liner disposed inside the clamping portion, the clamping portion clamped to the sonotrode assembly, the liner being contactable with the sonotrode assembly.
7. the ultrasound probe of claim 1, further comprising a power supply member electrically connected to the tilt angle detection element and the tilt angle transmission module, respectively.
8. The ultrasonic probe of claim 1, further comprising a processing component, wherein the processing component is in transmission connection with the tilt angle detection element and the tilt angle transmission module, and the processing component can acquire an actual tilt angle of the acoustic head component according to the tilt angle posture of the acoustic head component and transmit the actual tilt angle to the external image fusion device.
9. The ultrasound probe of claim 1, further comprising positioning markers disposed on the sound head assembly or the pose detection assembly for an external positioning device to position spatial coordinates of the sound head assembly.
10. The ultrasonic probe according to claim 1, wherein the tilt attitude detection element is one or more of an acceleration sensor, a pressure sensor, a magnetometer, a gyroscope and a MEMS chip;
The inclination angle transmission module comprises a radio frequency transmission module, an infrared data transmission module or a wired transmission module.
11. a puncture surgical system, comprising:
a robot including a mechanical arm;
an ultrasound probe connected to the mechanical arm, the ultrasound probe comprising:
A sonotrode assembly for acquiring an ultrasound image of a target; and
the inclination angle detection element is fixed relative to the sound head assembly; the inclination angle detection element is used for detecting the inclination angle posture of the sound head assembly in real time;
A processing unit that plans an inclination pose of the sound head assembly based on a real-time position of a puncture needle within the target such that the puncture needle is within an imaging range of the sound head assembly, and compares the detected real-time inclination pose and the planned inclination pose;
An adjustment assembly coupled to the robotic arm to adjust the robotic arm to bring the detected tilt attitude into conformance with a planned tilt attitude when the detected real-time tilt attitude and the planned tilt attitude are not in conformance.
12. the puncture surgical system of claim 11, wherein the tilt angle detection element and the processing unit are transmitted by radio frequency or infrared or wire.
13. the puncture surgical system of claim 11, wherein the ultrasonic probe further comprises a power supply member electrically connected to at least the tilt angle detection element.
14. the puncture surgical system of claim 11, wherein the tilt gesture detection element comprises one or more of an acceleration sensor, a pressure sensor, a magnetometer, a gyroscope, and a MEMS chip.
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