CN110575196B - Ultrasonic probe and puncture operation system - Google Patents
Ultrasonic probe and puncture operation system Download PDFInfo
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- CN110575196B CN110575196B CN201810593796.4A CN201810593796A CN110575196B CN 110575196 B CN110575196 B CN 110575196B CN 201810593796 A CN201810593796 A CN 201810593796A CN 110575196 B CN110575196 B CN 110575196B
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- head assembly
- inclination angle
- sound head
- detection element
- posture
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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 comprising: an acoustic head assembly for acquiring an ultrasound image of a target; the inclination angle detection element is relatively fixed with 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 transmission module is coupled with the inclination detection element and is used for transmitting the inclination posture detected by the inclination detection element to external equipment. The positioning accuracy of the posture of the sound head assembly is guaranteed, the fusion accuracy of the inclination posture of the sound head assembly by external equipment and the static three-dimensional image of the medical imaging equipment is improved, the identifiability of an ultrasonic image is further improved, medical staff can be conveniently and better helped to position the focus position in the puncture intervention operation, and the puncture intervention operation process is monitored. The invention also provides a puncture operation system.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to an ultrasonic probe with gesture detection kinetic energy and a puncture operation system.
Background
The ultrasonic imaging technology plays a very important role in disease diagnosis and interventional therapy guiding, and is widely applied to a plurality of departments of hospitals at all levels. However, the relative blurring of conventional B-mode ultrasound images, compared to the high anatomical resolution and contrast of CT and MR images, requires strict training of the physician for lesion identification. An innovative method is to fuse a CT or MR high-resolution static three-dimensional image with an ultrasonic dynamic section image so as to improve the identifiability of an ultrasonic image, better help doctors to locate focuses in interventional operation and monitor the treatment process.
The fusion of the CT/MR and the ultrasonic image requires obtaining the position and posture parameters of the ultrasonic scanning probe relative to the CT/MR three-dimensional image coordinate system; the system performs virtual tangent plane on three-dimensional CT/MR data according to the position and posture of the ultrasonic scanning probe, registers and fuses the tangent plane image with the plane image scanned by the current ultrasonic probe, and the fused image has high resolution of the CT/MR image and acoustic dynamic characteristics of the ultrasonic image.
The current method for acquiring the position and the posture of the ultrasonic probe comprises the following steps:
mechanical type: the ultrasonic probe is fixed on a mechanical supporting arm with multiple degrees of freedom, and the position and the posture of the ultrasonic probe can be obtained through calculation of the structural size of the mechanical supporting arm and the data of an angle sensor on the mechanical supporting arm;
electromagnetic type: placing more than 2 electromagnetic marks on the ultrasonic probe, and calculating the space position and the gesture of the ultrasonic probe by detecting the positions of the electromagnetic marks by the electromagnetic sensor;
visual type: placing more than 2 optical marks on the ultrasonic probe, and further calculating the spatial position and the gesture of the ultrasonic probe by a stereoscopic vision system through image processing calculation to obtain the position information of each optical mark;
the technology has no problem in principle, and the positioning accuracy is different only when the difficulty level in the implementation process is different. Specifically, the mechanical positioning method is heavy, the rigidity, the dimensional accuracy and the accuracy requirement of the angle sensor on the mechanical support arm are high, and along with the increase of the degree of freedom, the gain of the error is larger; the electromagnetic positioning method has more applications and good effect, but the electromagnetic positioning equipment is complex and has high price; the visual positioning method has the defects that a plurality of optical marks cannot be blocked, the optical marks need to be made on a relatively large frame, the coordinate precision obtained by visual calculation is limited, and the high-performance stereoscopic vision system is relatively expensive.
In conclusion, the problems of high cost and poor positioning accuracy exist in acquiring the position and the posture of the ultrasonic probe, and the positioning accuracy of the ultrasonic probe is affected.
Disclosure of Invention
Based on the above, it is necessary to provide an ultrasonic probe capable of reducing the cost and ensuring the positioning accuracy, aiming at the problems of high cost and poor positioning accuracy in the current acquisition of the position and the posture of the ultrasonic probe.
The above purpose is achieved by the following technical scheme:
an ultrasonic probe, comprising:
an acoustic head assembly for acquiring an ultrasound image of a target;
the inclination angle detection element is relatively fixed with 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 kind of electronic device with high-pressure air-conditioning system
The inclination angle transmission module is relatively fixed with the sound head assembly; the inclination transmission module is coupled with the inclination detection element and is used for transmitting the inclination posture detected by the inclination detection element to external equipment.
In one embodiment, the ultrasound probe further comprises a probe housing, the sound 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 detection element and the tilt transmission module are detachably mounted on the sound head assembly.
In one embodiment, the ultrasonic probe further comprises an auxiliary clamp, the tilt angle detection element and the tilt 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 fixture comprises a clamping portion and a fixing portion, the fixing portion is arranged on the clamping portion, the inclination detecting element and the inclination transmitting module are arranged 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 part, the clamping part is clamped on the sound head assembly, and the lining can be in contact with the sound head assembly.
In one embodiment, the ultrasonic probe further comprises a power supply component, and the power supply component is electrically connected with the inclination angle detection element and the inclination 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 the 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 device.
In one embodiment, the ultrasonic probe further comprises a positioning mark provided on the sound head assembly or the tilt angle detecting element, the positioning mark being used for positioning an external positioning device at a spatial 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 dip 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 robotic arm;
an ultrasonic probe connected to the robotic arm, the ultrasonic probe comprising:
an acoustic head assembly for acquiring an ultrasound image of a target; and
the inclination angle detection element is relatively fixed with 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 posture of the sound head assembly according to a real-time position of a puncture needle within the target so that the puncture needle is within an imaging range of the sound head assembly, and compares the detected real-time inclination posture and the planned inclination posture;
and the adjusting component is connected to the mechanical arm and is used for adjusting the mechanical arm to enable the detected inclination angle posture to be consistent with the planned inclination angle posture when the detected real-time inclination angle posture is inconsistent with the planned inclination angle posture.
In one embodiment, the tilt detection element and the processing unit are transmitted by radio frequency or infrared or wired.
In one embodiment, the ultrasound probe further comprises a power supply member electrically connected to at least the tilt angle detecting element.
In one embodiment, the tilt gesture detection 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 beneficial effects of the invention are as follows:
according to the ultrasonic probe and the puncture operation system, the inclination angle detection element is adopted to detect the inclination angle posture of the sound head assembly in real time, and the inclination angle posture of the sound head assembly is transmitted to external equipment in real time through the inclination angle transmission module; the problems of high cost and poor positioning accuracy in the existing acquisition of the position and the posture of the ultrasonic probe are effectively solved, so that the positioning accuracy of the inclination angle posture of the sound head assembly is ensured, the fusion accuracy of the two-dimensional dynamic image of the sound head assembly of external equipment and the static image of other medical imaging equipment is improved, the identifiability of the ultrasonic image is further improved, the medical staff can be conveniently and better helped to position the focus position in the puncture intervention operation, and the puncture intervention operation process is monitored; meanwhile, the ultrasonic probe adopts the mode of matching the inclination angle detection element with the inclination angle transmission module to realize the inclination angle posture detection and transmission of the sound head assembly, and compared with the existing mechanical, electromagnetic and visual positioning methods, the ultrasonic probe can greatly reduce the cost.
Drawings
FIG. 1 is a schematic view of an ultrasonic probe according to an embodiment of the present invention;
FIG. 2 is a schematic view of an ultrasound probe according to another embodiment of the present invention;
FIG. 3 is a schematic view of an ultrasonic probe according to still another embodiment of the present invention;
FIG. 4 is a schematic view of the ultrasound probe shown in FIG. 3 with the sound head assembly removed;
FIG. 5 is a partial top view of the auxiliary clamp in the ultrasound probe shown in FIG. 3;
FIG. 6 is a schematic diagram showing the connection of a power supply unit to an inclination angle detection element and an inclination angle transmission module in an ultrasonic probe according to the present invention;
FIG. 7 is a schematic diagram of the ultrasound probe of the present invention mated with external equipment;
fig. 8 is a schematic diagram of additional orientation information of an ultrasound probe of the present invention.
Wherein:
100-an ultrasonic probe;
110-an acoustic head assembly;
120-pose detection component; 121-an inclination angle detection element; 122-tilt angle transmission module;
130-a housing;
140-a processing unit;
150-auxiliary clamps; 151-clamping part; 152-a fixing part; 153-lining; 154-screw;
160-a power supply part;
170-positioning marks;
200-an external positioning device;
300-an ultrasonic workstation;
400-image processing device.
Description of the embodiments
In order to make the objects, technical solutions and advantages of the present invention more apparent, the ultrasonic probe and the puncture operation system according to the present invention will be described in further detail below by way of examples with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The numbering of the components itself, e.g. "first", "second", etc., is used herein merely to distinguish between the described objects and does not have any sequential or technical meaning. The terms "coupled" and "connected," as used herein, are intended to encompass both direct and indirect coupling (coupling), unless otherwise indicated. In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element in question must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
Referring to fig. 1 to 3, the present invention provides an ultrasonic probe 100, where the ultrasonic probe 100 is used for performing two-dimensional dynamic imaging on a target, i.e. an object to be scanned, so as to facilitate a medical staff to observe dynamic information of the object to be scanned in real time; moreover, when performing a puncture intervention operation on an object to be scanned, the ultrasonic probe 100 can also monitor the actual movement path of the puncture member in the object to be scanned in real time, so that the puncture member can accurately extend into the object to be scanned. The ultrasonic probe 100 can be positioned in real time, so that the fusion precision of the ultrasonic probe 100 and a static image of medical imaging equipment is improved, the identifiability of the image is further improved, and medical staff is facilitated to position a focus and monitor a treatment process. It is understood that the object to be scanned may be a lesion location or a non-lesion location. Of course, the ultrasound probe 100 of the present invention may also be used as an end-of-range measurement for a telerobotic ultrasound scanning system, providing feedback for accurate positioning of the sound head assembly 110.
The two-dimensional dynamic image acquired by the ultrasonic probe 100 can be fused with a still image of other medical imaging apparatuses such as a still three-dimensional image or the like. The medical imaging device herein may be a combination of one or more of a computed tomography (Computed Tomography, abbreviated as CT) device, a magnetic resonance imaging device (Magnetic Resonance, abbreviated as MR), a positron emission tomography device, a radiation therapy device, an X-ray imaging device, a single photon emission computed tomography device, or the like. The static image acquired and regenerated by the other medical imaging devices can be fused with the two-dimensional dynamic image acquired by the ultrasonic probe 100, specifically: the fusion system can perform virtual section on static images of other medical imaging equipment according to the position and inclination angle posture of the ultrasonic probe 100, then register and fuse section images with two-dimensional dynamic images scanned by the current ultrasonic probe 100, and the fused images have high resolution of the static images and acoustic dynamic characteristics of the two-dimensional dynamic images, provide images with larger information for operation navigation and image diagnosis, facilitate doctors to better help locate focus positions in puncture intervention operation, and monitor treatment processes.
In the present invention, the ultrasonic probe 100 includes a sound head assembly 110, an inclination angle detecting element 121, and an inclination angle transmitting module 122. The sound head assembly 110 is used for scanning an object to be scanned to acquire a two-dimensional dynamic image. The sound head assembly 110 is an ultrasonic probe, and the kind thereof is not limited in principle, as long as it can receive or emit sound waves. By way of example, the sound head assembly 110 may be a conventional sound head assembly 110, including, for example, transducer arrays, matching layers, backing sound absorbing materials, acoustic lenses, signal webs, and the like; the sonic head assembly 110 may also be a sonic head assembly 110 of other processes, such as a CMUT (Capacitive Micro Machined Ultrasonic Transducer, capacitive micromachined ultrasonic sensor) sonic head; the sound head assembly 110 may also be a conventional ultrasonic probe. It will be appreciated that the pose detection assembly 120 is applicable to all types of sound head assemblies 110 currently available, such as: linear array probes, convex array probes, phased array probes, or wireless probes integrated with signal transmitting and receiving devices, etc.
The tilt angle detecting element 121 is used for detecting the tilt angle posture of the sound head assembly 110 at the current position in real time, and feeding back the tilt angle posture to external devices such as a host computer, an industrial personal computer, an external image processing device 400, and the like. In the present invention, the external device is taken as the external image processing device 400. The external image processing device 400 detects the inclination posture of the sound head assembly 110 at the current position according to the inclination detection element 121, performs virtual section on the static image of the medical imaging device, registers and fuses the section image with the two-dimensional dynamic image corresponding to the inclination posture, and obtains a multi-mode image with identifiability, so that the medical staff can monitor treatment conveniently. Moreover, the inclination angle detection element 121 and the sound head assembly 110 are relatively fixed, so that the inclination angle detection element 121 and the sound head assembly 110 have a relatively fixed position relationship, inclination angle posture data detected by the position detection assembly are unique, and accuracy of detection results is ensured.
The tilt angle transmission module 122 is also fixed relative to the sound head assembly 110, 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 detection element 121 can detect the tilt angle posture of the sound head assembly 110 at the current position in real time and transmit the detected tilt angle posture to the tilt angle transmission module 122, and the tilt angle transmission module 122 transmits the tilt angle posture of the sound head assembly 110 to the external image processing device 400, so that 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 position detection assembly 120.
The tilt angle detection element 121 can detect the real-time spatial tilt angle posture of the therapeutic apparatus in real time, so that the position of the tilt angle detection element 121 in space can be conveniently monitored, and further, the medical staff can conveniently control the therapeutic apparatus. The inclination angle detecting element 121 is one or more of an acceleration sensor, a pressure sensor, a magnetometer, a gyroscope and a MEMS chip. The tilt detection 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 back and forth, tilt left and right, and horizontal rotation angle of the sound head assembly 110. It is understood that the tilt angle detecting element 121 may detect the tilt angle posture of the sound head assembly 110 in real time in various forms. For example, a triaxial acceleration sensing chip of a Micro-Electro-Mechanical System (MEMS) technology can be used, and stress conditions of three axes of the sound head assembly 110 under different inclination angles can be measured through the triaxial acceleration sensing chip, so that the inclination angle posture of the sound head assembly 110 can be calculated; multiple MEMS acceleration sensors can be used, the acceleration sensors can measure acceleration caused by gravity to calculate the inclination angle of the sound head assembly 110 relative to the horizontal plane, and the inclination angle and the attitude estimation with higher precision can be improved through the fusion of the multiple acceleration sensors; angular velocities in different directions may also be measured using a tri-axis gyroscope or multiple mono-axis gyroscopes to calculate the tilt attitude of the sound head assembly 110; the method can also use various measuring means such as superposition of an acceleration sensor and a gyroscope, and the like, and acquire more accurate inclination angle and attitude estimation by fusing data acquired by the various measuring means; etc. The inclination angle detection element has the characteristic of autonomous measurement, can measure the inclination angle posture of the inclination angle detection element without other heavy auxiliary tools, is convenient to operate and use, can continuously measure the inclination angle of a therapeutic instrument in real time, ensures the accuracy of an inclination angle posture measurement result, can reduce the weight of a puncture operation device, and is convenient for medical staff 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 pose to the external image processing apparatus 400. The transmission connection in the present invention refers to a communication connection and/or an electrical connection. The tilt angle transmission module 122 transmits the tilt angle detected by the tilt angle detecting element 121 to the external image processing device 400 in real time, and may use radio frequency transmission (bluetooth, zigbee or other ISM band low power wireless transmission technologies), or may use infrared data transmission, or may use wired transmission in some occasions, for example, RS232 serial port, USB, etc., and of course, in other embodiments of the present invention, other structures capable of implementing data transmission may also be used.
According to the ultrasonic probe 100, the inclination angle posture of the sound head assembly 110 is detected in real time through the inclination angle detection element 121, and the inclination angle posture is transmitted to the external image processing equipment 400 through the inclination angle transmission module 122, the external image processing equipment 400 detects the inclination angle posture of the sound head assembly 110 at the current position according to the posture detection assembly 120 so as to fuse a two-dimensional dynamic image with a static image, so that the problems of high cost and poor positioning precision existing in the current acquired ultrasonic probe position posture are effectively solved, the positioning precision of the inclination angle posture of the sound head assembly 110 is ensured, the fusion precision of the external equipment and the static image of the sound head assembly 110 and other medical imaging equipment is improved, the identifiability of an ultrasonic image is further improved, the medical staff can be conveniently and better helped to position a focus in a puncture intervention operation, and the puncture intervention operation process is monitored; meanwhile, the ultrasonic probe 100 of the present invention adopts the matching mode of the tilt angle detection element 121 and the tilt angle transmission module 122 to realize the gesture detection and transmission of the sound head assembly 110, which can greatly reduce the cost compared with the existing mechanical, electromagnetic and visual positioning methods.
Referring to fig. 1, in an embodiment of the present invention, the ultrasonic probe 100 further includes a probe housing 130, and the sound head assembly 110 is located at an end of the probe housing 130. The tilt detecting element 121 and the tilt transmitting module 122 are both disposed in the probe housing 130. That is, the position between the sound head assembly 110 and the tilt angle detecting element 121 is secured relatively fixed by the probe housing 130. The tilt angle detecting element 121 and the sound head assembly 110 may be fixed by sharing a PCB board, or the tilt angle detecting element 121 may be fixed to the probe housing 130 by a fixing member. In this way, the inclination angle detection element 121 and the sound head assembly 110 can have a determined azimuth and coordinate relationship, that is, the imaging section azimuth of the sound head assembly 110 and the posture data of the inclination angle detection element 121 have a one-to-one mapping relationship, so that the accuracy of image fusion is ensured.
Referring to fig. 2, in another embodiment of the present invention, the tilt sensing element 121 and the tilt transmission module 122 are detachably mounted on the sound head assembly 110. The sound head assembly 110, the tilt angle detecting element 121 and the tilt angle transmitting module 122 can be independent structures, the tilt angle detecting element 121 and the tilt angle transmitting module 122 are integrated together to form a whole structure, and then the whole structure is installed on the sound head assembly 110. It will be appreciated that the gesture detection assembly 120 is removably mounted to the sound head assembly 110, although it may be non-removably secured to the sound head assembly 110 by gluing or the like. Removable attachment means include, but are not limited to, snap-fit, suction-type, screw-type, or the like. After the inclination angle detection element 121 and the sound head assembly 110 are combined together, the inclination angle detection element has a determined azimuth and coordinate relationship, namely, the imaging section azimuth of the sound head assembly 110 and the gesture data of the gesture detection assembly 120 have a one-to-one mapping relationship, so that the accuracy of image fusion is ensured.
Referring to fig. 3 to 5, in still another embodiment of the present invention, the ultrasonic probe 100 further includes an auxiliary fixture 150, the tilt detecting element 121 and the tilt transmitting module 122 are disposed on the auxiliary fixture 150, and the auxiliary fixture 150 detachably clamps the sound head assembly 110. The inclination angle detection element 121 and the inclination angle transmission module 122 are fixed on the auxiliary clamp 150 through the auxiliary clamp 150 and are fixed with the sound head assembly 110, and a unique coordinate mapping relation is formed between detection data of the inclination angle detection element 121 and the sound head assembly 110, so that accuracy of calculating actual inclination angle posture data of the inclination angle detection element 121 is ensured. The auxiliary clamp 150 may be clamped in any position on the sound head assembly 110 as long as it does not affect the ultrasound imaging.
It will be appreciated that in this embodiment, the sound head assembly 110 includes a handle and a probe. The probe is located at the end of the handle. It will be appreciated that the auxiliary clamp 150 may be clamped to the handle, to the sonic head, as long as the probe scanning imaging is not affected, and of course, 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 space inclination angle posture of the sound head assembly 110 can be conveniently adjusted, and the imaging section direction of the sound head assembly 110 can be conveniently fused with other images.
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 detecting element 121 and the tilt 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 clamping portion 151 and the fixing portion 152 are fixed relatively to each other, so as to ensure that the tilt angle detecting element 121 and the sound head assembly 110 are fixed. In this embodiment, the clamping portion 151 and the fixing portion 152 are integrally formed, and the clamping portion 151 and the fixing portion 152 may be detachably connected. The clamping part 151 clamps the sound head assembly 110 in the middle by two clamping pieces connected through a hinge, and is locked by a screw 154. Specifically, after the two clamping members are combined, a closed cavity is formed, 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 other embodiments of the present invention, the auxiliary jig 150 may be a carrier, and the tilt detecting element 121, the tilt transmitting module 122, and the like may be mounted on the auxiliary jig 150 by other external structures.
Still further, the auxiliary fixture 150 further includes a liner 153, the liner 153 is disposed on the inner side of the clamping portion 151, the clamping portion 151 is clamped on the sound head assembly 110, and the liner 153 can be in contact with the sound head assembly 110. In order to prevent the sound head assembly 110 from being damaged by extrusion, 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 roles in fastening, preventing falling and preventing breakage. Optionally, liner 153 is made of an elastomeric material. It will be appreciated that the clamping portion 151 is in contact with the handle and/or probe of the sound head assembly 110 via the liner 153.
Referring to fig. 1 to 3 and 6, as an embodiment, the ultrasonic probe 100 further includes a power supply part 160, and the power supply part 160 is electrically connected to the tilt detecting element 121 and the tilt transmitting module 122, respectively, and supplies power to the tilt detecting element 121 and the tilt transmitting module 122, respectively. The power supply part 160 ensures that the inclination angle detection element 121 and the inclination angle transmission module 122 work normally. Alternatively, the power supply unit 160 may supply power to the tilt detecting element 121 and the tilt transmitting module 122 by wired power supply or wireless power supply. For example, the battery power supply or the super capacitor power supply can be adopted, the external power supply can also be carried out through a cable, and the button battery or the lithium battery with small volume and large capacity can also be adopted for power supply.
Referring to fig. 3 and 4, as an embodiment, the ultrasonic probe 100 further includes a processing component 140, where the processing component 140 is in transmission connection with the tilt angle detecting element 121 and the tilt angle transmitting module 122, and the processing component 140 can obtain an actual tilt angle of the sound head assembly 110 according to the tilt angle posture of the sound head assembly 110 and transmit the actual tilt angle to an external device. The processing assembly 140 is capable of acquiring and processing the tilt attitude of the sound head assembly 110. It is to be understood that the process herein refers to calculating the tilt attitude detected by the tilt detecting element 121 into the actual angle of the sound head assembly 110 by the attitude model. The method comprises the following steps: the processing component 140 acquires the original data detected by the inclination angle detection element 121, estimates the actual inclination angle of the sound head component 110 through the gesture model, and sends the actual inclination angle to the external image processing device 400 through the inclination angle transmission module 122 for real-time fusion, so that the accuracy of image fusion is ensured. It is understood that the tilt detecting element 121, the processing unit 140 and the tilt transmitting module 122 may be integrated by one integrated chip or may be implemented in different chips.
Referring to fig. 7, as an embodiment, the ultrasonic probe 100 further includes a positioning mark 170, where the positioning mark 170 is disposed on the sound head assembly 110 or the pose detection assembly 120, and the positioning mark 170 is used to enable the external positioning device 200 to position the sound head assembly 110 in a spatial coordinate position. The external positioning device 200 herein may be a visual imaging device, a machine vision positioning device, or an electromagnetic positioning device, among others. The external positioning device 200 can calibrate the position of the ultrasonic probe 100 in the operation area through the positioning mark 170, and can accurately obtain the three-dimensional space posture of the ultrasonic probe 100 in combination with the tilt posture of the sound head assembly 110 detected by the tilt detection element 121.
The ultrasound probe 100 of the present invention is capable of fusion with still images of other medical imaging devices. The ultrasonic probe 100 is used in cooperation with the ultrasonic workstation 300, the ultrasonic workstation 300 is in transmission connection with the image processing device 400, and the external positioning device 200 is also in transmission connection with the image processing device 400. The ultrasonic workstation 300 transmits the two-dimensional dynamic image acquired by the sound head assembly 110 to the external image processing apparatus 400, and also transmits the tilt attitude of the sound head assembly 110 to the external image processing apparatus 400. The external positioning device 200 positions the space coordinate position of the ultrasonic probe 100 through the positioning mark 170 and feeds back to the external image processing device 400, and the inclination angle posture data of the sound head assembly 110 can be obtained by the inclination angle detection element 121 of the sound head assembly; the external image processing apparatus 400 can calculate the position of the working section of the ultrasonic probe 100 according to the spatial position coordinates and the tilt attitude data of the sound head assembly 110. The external image processing device 400 can calculate the anatomical image on the ultrasound section as a reference image from the working section position and the static image data previously acquired from other medical imaging devices (e.g., CT or MR); the reference image can be used for directly guiding medical staff to judge the ultrasonic image, and an image registration and fusion method can be further adopted to fuse the ultrasonic image and the reference image into one image. The fused image has the high resolution of the static image and the acoustic dynamic characteristic of the two-dimensional dynamic image, provides images with larger information for operation navigation and image diagnosis, and is convenient for helping doctors to position focus positions better in puncture interventional operation and monitoring treatment process.
Referring to fig. 8, of course, one piece of azimuth information may be added to the ultrasonic probe 100, that is, one piece of azimuth information may be added to the two-dimensional dynamic image. With the scan position and direction of the sound head assembly 110 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 can independently finish the detection of the inclination angle posture of the sound head assembly 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 assembly 110; only one positioning mark 170 of the sound head assembly 110 is required to be subjected to coordinate positioning; the accuracy of the tilt attitude direction of the sound head assembly 110 is detected by its own tilt detecting element 121, and the accuracy of the external positioning apparatus 200 is not required to be strict any more, so that the cost can be greatly reduced.
The invention also provides a puncture surgery system for performing a puncture surgery on a patient. The penetrating surgical system includes a robot, an adjustment assembly (not shown), and an ultrasonic 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 by the mechanical arm, so that the ultrasonic image of an object to be scanned is acquired. The specific structure of the ultrasonic probe 100 has been mentioned in the above-described embodiments, and is not described in detail herein. The adjusting component is connected to the mechanical arm and can play an adjusting role 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, the mechanical arm is regulated so that the detected inclination angle posture of the ultrasonic probe is consistent with the planned inclination angle posture. The puncture operation system drives the ultrasonic probe 100 to scan an object to be scanned through the mechanical arm, and simultaneously, the inclination angle posture of the ultrasonic probe 100 can be adjusted in real time through the adjusting component, so that the accuracy of the ultrasonic probe 100 for collecting ultrasonic images is ensured.
Further, the ultrasonic probe 100 has a processing unit 140, and the processing unit 140 is identical in structure and operation to the processing unit 140 in the above-described embodiment. Moreover, in this embodiment, the ultrasound probe 140 may also be used with a puncture needle, specifically, the processing unit 140 may also plan the tilt attitude of the sound head assembly 110 according to the real-time position of the puncture needle in the target so that the puncture needle is in the imaging range of the sound head assembly 100, and compare the detected real-time tilt attitude with the planned tilt attitude, and when the detected real-time tilt attitude and the planned tilt attitude are inconsistent, adjust the mechanical arm so that the detected tilt attitude is consistent with the planned tilt attitude. That is, when the puncture operation is performed, adjusting the inclination posture of the ultrasonic probe 100 also enables the ultrasonic probe 100 to detect the movement track of the puncture needle in real time, so as to monitor the movement path of the puncture needle in real time, ensure the accurate movement of the puncture needle, and further improve the safety of the puncture operation.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be regarded as the description scope of the present specification.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (10)
1. An ultrasonic probe, comprising:
an acoustic head assembly for acquiring an ultrasound image of a target;
the inclination angle detection element is relatively fixed with 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; and
the auxiliary clamp is arranged on the auxiliary clamp, the auxiliary clamp detachably clamps the sound head assembly, and a unique coordinate mapping relation is formed between detection data of the inclination angle detection element and the sound head assembly; the auxiliary clamp comprises a clamping part and a fixing part, the fixing part is arranged on the clamping part, the inclination angle detection element and the inclination angle transmission module are arranged in the fixing part, and the clamping part is detachably clamped on the sound head assembly;
and the external image processing equipment detects the inclination angle posture of the sound head assembly at the current position according to the inclination angle detection element, performs virtual section on the static image of the medical imaging equipment, and registers and fuses the section image with the two-dimensional dynamic image corresponding to the inclination angle posture to obtain a distinguishable multi-mode image.
2. The ultrasonic probe of claim 1, wherein the auxiliary clamp further comprises a liner disposed inside the clamping portion, the clamping portion being clamped to the sound head assembly, the liner being contactable with the sound head assembly.
3. The ultrasonic probe of claim 1, further comprising a power supply component electrically connected to the tilt detection element and the tilt transmission module, respectively.
4. The ultrasonic probe of claim 1, further comprising a processing assembly in transmission connection with the tilt detection element and the tilt transmission module, the processing assembly capable of acquiring an actual tilt angle of the sound head assembly from the tilt attitude of the sound head assembly and transmitting to the external image processing device.
5. The ultrasound probe of claim 1, further comprising a positioning marker disposed on the sound head assembly or the tilt angle detection element, the positioning marker for positioning an external positioning device at a spatial coordinate position of the sound head assembly.
6. The ultrasonic probe of claim 1, wherein the tilt gesture detection element is one or more of an acceleration sensor, a pressure sensor, a magnetometer, a gyroscope, and a MEMS chip;
the dip angle transmission module comprises a radio frequency transmission module, an infrared data transmission module or a wired transmission module.
7. A puncture surgical system, comprising:
a robot including a robotic arm;
the external positioning device is in transmission connection with the robot;
the ultrasonic probe of any one of claims 1 to 6, connected to the robotic arm, the ultrasonic probe comprising:
an acoustic head assembly for acquiring an ultrasound image of a target; and
the inclination angle detection element is relatively fixed with 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 posture of the sound head assembly according to a real-time position of a puncture needle within the target so that the puncture needle is within an imaging range of the sound head assembly, and compares the detected real-time inclination posture and the planned inclination posture;
the positioning mark is arranged on the sound head assembly or the inclination angle detection element, is in transmission connection with the external positioning equipment and is used for enabling the external positioning equipment to position the space coordinate position of the ultrasonic probe;
and the adjusting component is connected to the mechanical arm and is used for adjusting the mechanical arm to enable the detected inclination angle posture to be consistent with the planned inclination angle posture when the detected real-time inclination angle posture is inconsistent with the planned inclination angle posture.
8. The puncture surgical system according to claim 7, wherein the tilt detection element and the processing unit are transmitted by radio frequency or infrared or wired.
9. The puncture surgical system of claim 7, wherein the ultrasonic probe further comprises a power supply component that is electrically connected with at least the tilt angle detection element.
10. The puncture surgical system according to claim 7, wherein the tilt gesture detection element includes one or more of an acceleration sensor, a pressure sensor, a magnetometer, a gyroscope, and a MEMS chip.
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| CN102525553B (en) * | 2011-11-23 | 2014-01-08 | 东南大学 | Body surface accurate positioning system for medical ultrasonic probe and method |
| CN102499762B (en) * | 2011-11-23 | 2014-06-04 | 东南大学 | Three-dimensional spatial positioning system for medical ultrasonic probe relative to part to be checked and method |
| CN103735312B (en) * | 2013-12-11 | 2016-01-27 | 中国科学院深圳先进技术研究院 | Multimode image navigation system for ultrasonic guidance operation |
| CN103829973A (en) * | 2014-01-16 | 2014-06-04 | 华南理工大学 | Ultrasonic probe scanning system and method for remote control |
| CN104161546A (en) * | 2014-09-05 | 2014-11-26 | 深圳先进技术研究院 | Ultrasonic probe calibration system and method based on locatable puncture needle |
| DE102015107753A1 (en) * | 2015-05-18 | 2016-11-24 | Endress + Hauser Flowtec Ag | Method for determining a characteristic variable for evaluating a measuring arrangement comprising a clamp-on ultrasonic flow measuring device and a pipe and / or for evaluating the measuring operation of this measuring arrangement |
| CN105030275A (en) * | 2015-08-31 | 2015-11-11 | 姜殿威 | Ultrasound exploration auxiliary positioning system |
| CN106108951B (en) * | 2016-07-26 | 2019-01-22 | 上海市第一人民医院 | A kind of medical real-time three-dimensional location tracking system and method |
| CN107970060A (en) * | 2018-01-11 | 2018-05-01 | 上海联影医疗科技有限公司 | Surgical robot system and its control method |
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