CN111616735A - Alignment method, device and system of multi-array-element ultrasonic transducer and storage medium - Google Patents
Alignment method, device and system of multi-array-element ultrasonic transducer and storage medium Download PDFInfo
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- CN111616735A CN111616735A CN201910148092.0A CN201910148092A CN111616735A CN 111616735 A CN111616735 A CN 111616735A CN 201910148092 A CN201910148092 A CN 201910148092A CN 111616735 A CN111616735 A CN 111616735A
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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
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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
- A61B8/54—Control of the diagnostic device
Abstract
The invention discloses a contraposition method of a multi-array element ultrasonic transducer, which comprises the following steps: determining a first array element and a second array element which are symmetrically arranged along a direction vertical to a rotating shaft in a first alignment direction of the multi-array-element ultrasonic transducer; gating the first array element and the second array element in sequence, scanning the reflection target by using the gated array elements, and determining a pose adjustment parameter of the probe according to the arrival time t of an echo signal reflected by the reflection target; and adjusting the pose of the probe according to the pose adjustment parameter. The invention also discloses a device and a system for aligning the multi-array element ultrasonic transducer and a storage medium. The invention can realize the alignment of the multi-array element ultrasonic transducer without manual participation.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a method, a device and a system for aligning a multi-array-element ultrasonic transducer and a storage medium.
Background
The ultrasonic probe is the most critical acoustic component in a medical ultrasonic imaging system, and generally consists of a plurality of array elements, each array element is an individual ultrasonic transducer, and the array elements are uniformly arranged in a plane or convex shape. The evaluation of the use characteristics of the ultrasonic transducer is mainly realized by processing echo measurement data and acoustic field distribution characteristic measurement data. When the ultrasonic transducer performs echo measurement, the ultrasonic transducer needs to be aligned so that an optimal measurement position can be found to make the measurement result more accurate. In the existing echo measuring system, automatic control cannot be realized in the alignment of the multi-array element ultrasonic transducer, and the optimal measuring position needs to be found through manual debugging, so that the existing echo measuring system is very inconvenient and consumes long time. Therefore, how to provide a multi-array element ultrasonic transducer aligning method without human intervention becomes a technical problem to be solved at present.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a counterpoint method of a multi-array-element ultrasonic transducer, and aims to solve the technical problem of how to provide a counterpoint method of the multi-array-element ultrasonic transducer without manual participation.
In order to achieve the above object, the present invention provides a method for aligning a multi-element ultrasonic transducer, where the multi-element ultrasonic transducer includes a plurality of array elements uniformly distributed on a probe, and the method includes the following steps:
determining a first array element and a second array element which are symmetrically arranged along a direction vertical to a rotating shaft in a first alignment direction of the multi-array-element ultrasonic transducer;
gating the first array element and the second array element in sequence, scanning the reflection target by using the gated array elements, and determining a pose adjustment parameter of the probe according to the arrival time t of an echo signal reflected by the reflection target;
and adjusting the pose of the probe according to the pose adjustment parameter.
Optionally, the pose adjustment parameters include a rotation direction and a rotation amplitude of the probe, and the step of determining the pose adjustment parameters of the probe according to the arrival time t of the echo signal reflected by the reflection target includes: calculating the difference between the arrival time t1 of a first echo signal returned by the reflecting target during the gating of the first array element and the arrival time t2 of a second echo signal returned by the reflecting target during the gating of the second array element; when the absolute value of the arrival time difference value is larger than an arrival time threshold t0, determining the rotation direction of the probe according to the positive and negative of the arrival time difference value, and determining the rotation amplitude of the probe according to the absolute value of the arrival time difference value, wherein the rotation axis in the first contraposition direction is the uniform distribution direction of the array elements.
Optionally, the method for aligning the multi-element ultrasonic transducer further includes: controlling the probe to move in a second alignment direction, scanning the reflecting target by using the gated array elements, and determining the peak value position of the echo amplitude of the probe in the second alignment direction according to a plurality of third echo signals reflected by the reflecting target; and controlling the probe to move to the determined peak position, and finishing the alignment of the probe in the second alignment direction.
Optionally, the step of controlling the probe to move to the determined peak position further comprises: recording the currently determined peak position as a first target position; adjusting the scanning parameters of the gated array elements, scanning the reflection targets according to the adjusted scanning parameters, re-determining the peak position of the echo amplitude of the probe in the second alignment direction, and taking the peak position as a second target position; calculating the absolute value of the difference between the first target position and the second target position in the second alignment direction, and comparing the absolute value of the difference with a preset value; and if the absolute value of the difference is smaller than or equal to the preset value, taking the second target position as the final moving position of the probe, and controlling the probe to move to the second target position.
Optionally, before the step of determining the first array element and the second array element of the multi-array-element ultrasonic transducer symmetrically arranged along the rotation axis of the first alignment direction, the method further includes: establishing a three-dimensional coordinate system by taking a horizontal plane as an X-Y plane, taking the uniformly distributed direction of a plurality of array elements as a Y axis and taking the direction vertical to the horizontal plane as a Z axis; one tangent plane of the reflecting target is parallel to the horizontal plane; and determining the first alignment direction as a rotation direction taking the Y axis as a rotation axis, wherein the second alignment direction comprises a Z-axis direction and a rotation direction taking the X axis as a rotation axis.
Optionally, the step of determining the peak position of the echo amplitude of the probe in the second alignment direction according to the plurality of third echo signals reflected back by the reflection target includes: calculating a plurality of reference values of a plurality of third echo signals; the reference value comprises a peak-to-peak value or an echo envelope of the third echo signal; fitting a plurality of reference values to obtain a third echo signal with the maximum peak value; and determining the scanning position corresponding to the third echo signal with the maximum peak value as the peak value position of the echo amplitude of the probe in the second alignment direction.
Optionally, the first echo signal, the second echo signal, and the third echo signal all carry three-dimensional coordinate information of a scanning point corresponding to the echo signal.
In order to achieve the above object, the present invention further provides an aligning apparatus for a multi-element ultrasonic transducer, including: the alignment program of the multi-array element ultrasonic transducer is stored on the memory and can run on the processor, and when being executed by the processor, the alignment program of the multi-array element ultrasonic transducer realizes the steps of the alignment method of the multi-array element ultrasonic transducer.
In order to achieve the above object, the present invention further provides an aligning system of a multi-element ultrasonic transducer, including: the reflection target, the aligning device of the multi-array element ultrasonic transducer, the probe and the mechanical arm are electrically connected in sequence; the ultrasonic transducer is clamped on the mechanical arm through a clamp arranged on the mechanical arm.
In order to achieve the above object, the present invention further provides a storage medium, where a program for aligning a multi-element ultrasound transducer is stored, and when the program for aligning a multi-element ultrasound transducer is executed by a processor, the steps of the method for aligning a multi-element ultrasound transducer as described above are implemented.
The alignment method, the device, the system and the storage medium of the multi-array element ultrasonic transducer provided by the embodiment of the invention scan a reflection target by utilizing a gated array element to obtain a first echo signal reflected by the reflection target, gate a symmetrical array element symmetrical to the array element, scan the reflection target by utilizing the symmetrical array element to obtain a second echo signal reflected by the reflection target, calculate the arrival-time difference value between the arrival time of an echo of the first echo signal and the arrival time of an echo of the second echo signal, adjust the pose of the probe by taking the distribution direction of the plurality of array elements as a rotating shaft according to the arrival-time difference value, wherein the pose of the probe when the arrival-time difference value is zero is the optimal measurement position of the multi-array element ultrasonic transducer, adjust the pose of the probe by the arrival-time difference value, namely adjust the probe to the optimal measurement position, and realize the automatic alignment of the multi-array element ultrasonic transducer, the manual participation is not needed, and the operation is very convenient.
Drawings
Fig. 1 is a functional block diagram of an alignment system of a multi-array element ultrasonic transducer according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an alignment system of a multi-array element ultrasonic transducer according to an embodiment of the present invention;
fig. 3 is a schematic terminal structure diagram of an alignment system of a multi-array element ultrasonic transducer according to an embodiment of the present invention;
fig. 4 is a schematic flow chart of a first embodiment of the alignment method of the multi-element ultrasonic transducer of the present invention;
fig. 5 is a schematic distribution diagram of the first and second array elements of the first embodiment of the alignment method of the multi-array element ultrasonic transducer of the present invention;
fig. 6 is a detailed flowchart of step S400 of the first embodiment of the alignment method for the multi-array element ultrasonic transducer in fig. 4;
fig. 7 is a schematic diagram of a three-dimensional coordinate system established in a first embodiment of the alignment method of the multi-element ultrasonic transducer of the present invention;
fig. 8 is a detailed flowchart of step S410 of the first embodiment of the alignment method for the multi-array element ultrasonic transducer in fig. 4;
fig. 9 is a schematic flow chart of a second embodiment of the alignment method of the multi-element ultrasonic transducer of the present invention;
fig. 10 is a detailed flowchart of step S900 of the second embodiment of the method for aligning a multi-array element ultrasonic transducer in fig. 9;
fig. 11 is a detailed flowchart of step S910 of the second embodiment of the method for aligning a multi-array-element ultrasonic transducer in fig. 9.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
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 main solution of the embodiment of the invention is as follows: determining a first array element and a second array element which are symmetrically arranged along a direction vertical to a rotating shaft in a first alignment direction of the multi-array-element ultrasonic transducer; gating the first array element and the second array element in sequence, scanning the reflection target by using the gated array elements, and determining a pose adjustment parameter of the probe according to the arrival time t of an echo signal reflected by the reflection target; and adjusting the pose of the probe according to the pose adjustment parameter.
The invention provides an alignment method of a multi-array element ultrasonic transducer, which comprises the steps of scanning a reflecting target by utilizing a gated array element to obtain a first echo signal reflected by the reflecting target, gating a symmetrical array element symmetrical to the array element, scanning the reflecting target by utilizing the symmetrical array element to obtain a second echo signal reflected by the reflecting target, calculating a time-arrival difference value between the arrival time of an echo of the first echo signal and the arrival time of an echo of the second echo signal, adjusting the pose of a probe by taking the distribution direction of the array elements as a rotating shaft according to the time-arrival difference value, wherein, when the arrival time difference value is zero, the pose of the probe is the optimal measurement position of the multi-array element ultrasonic transducer, the pose of the probe is adjusted by the arrival time difference value, the probe can be adjusted to the optimal measurement position, automatic alignment of the multi-array-element ultrasonic transducer is realized, manual participation is not needed, and the method is very convenient.
Referring to fig. 1, an alignment system of a multi-element ultrasonic transducer according to an embodiment of the present invention includes: the device comprises a terminal 1, an oscilloscope 4, an excitation source 6, a mobile control box 9, a mechanical arm 7, a clamp 8, a probe 5, a water tank 3, a reflection target 2 and an array element gating unit 10. The terminal 1, the oscilloscope 4, the excitation source 6, the array element gating unit 10 and the ultrasonic transducer 5 are electrically connected in sequence to form a closed loop. The terminal 1 is also electrically connected with a mobile control box 9, an array element gating unit 10, a mechanical arm 7 and an excitation source 6. The reflective target 2 is placed at the bottom of the water tank 3. The probe 5 is held by a clamp 8 arranged at the free end of a mechanical arm 7 and extends into the water tank 3, so that the ultrasonic signal emitting surface of the probe faces downwards to the reflecting target 2. The water tank 3 is filled with water, and the water level line of the water tank is higher than the ultrasonic signal transmitting surface of the array element on the probe 5. The multi-array element ultrasonic transducer of the invention comprises a plurality of array elements which are uniformly distributed on a probe 5.
Referring to fig. 2, a water tank 3 and a fixed base 8 are placed on a workbench 1, one end of a mechanical arm 7 is fixedly connected with the top of the fixed base 8, the other end of the mechanical arm 7 is a free end, the tail end of the free end is fixedly connected with one end of a universal fixture part 6, the other end of the universal fixture part 6 is connected with a special fixture part 4, a probe 5 is clamped and fixed by the special fixture part 4, a reflection target 2 is placed at the bottom of the water tank 3, and the ultrasonic signal emission surface of the probe 5 faces downward to the reflection target 2.
The terminal 1 sends out a pulse signal to excite the probe 5 by controlling the excitation source 6, the probe 5 sends out an ultrasonic signal to scan the reflection target 2 after being excited, and receives an echo signal reflected by the reflection target 2, the echo signal is sent to the excitation source 6 to be amplified and then collected by the oscilloscope 4, and the terminal 1 carries out alignment on the probe 5 according to the echo signal collected by the oscilloscope 4. The terminal 1 performs the alignment by sending a command to the movement control box 9 to control the motions of the robot arm 7 and the gripper 8 so as to move the probe 5 to a determined movement position.
Fig. 3 is a schematic terminal structure diagram of a hardware operating environment according to an embodiment of the present invention.
The terminal of the embodiment of the invention can be a PC, and can also be a mobile terminal device such as a smart phone, a tablet computer, a portable computer and the like.
As shown in fig. 1, the terminal may include: a processor 3001, e.g., a CPU, a network interface 3004, a user interface 3003, a memory 3005, a communication bus 3002. The communication bus 3002 is used to realize connection communication between these components. The user interface 3003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 3003 may also include a standard wired interface, a wireless interface. The network interface 3004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 3005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 3005 may alternatively be a storage device separate from the processor 3001.
Optionally, the terminal may further include a camera, a Radio Frequency (RF) circuit, a sensor, an audio circuit, a WiFi module, and the like. Such as light sensors, motion sensors, and other sensors. Specifically, the light sensor may include an ambient light sensor that may adjust the brightness of the display screen according to the brightness of ambient light, and a proximity sensor that may turn off the display screen and/or the backlight when the mobile terminal is moved to the ear. As one of the motion sensors, the gravity acceleration sensor can detect the magnitude of acceleration in each direction (generally, three axes), detect the magnitude and direction of gravity when the mobile terminal is stationary, and can be used for applications (such as horizontal and vertical screen switching, related games, magnetometer attitude calibration), vibration recognition related functions (such as pedometer and tapping) and the like for recognizing the attitude of the mobile terminal; of course, the mobile terminal may also be configured with other sensors such as a gyroscope, a barometer, a hygrometer, a thermometer, and an infrared sensor, which are not described herein again.
Those skilled in the art will appreciate that the terminal structure shown in fig. 3 is not intended to be limiting and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 3, the memory 3005, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and a registration program of the multi-element ultrasonic transducer.
In the terminal shown in fig. 3, the network interface 3004 is mainly used for connecting to a background server and performing data communication with the background server; the user interface 3003 is mainly used for connecting a client (user terminal) and performing data communication with the client; and the processor 3001 may be configured to invoke a bit alignment procedure for the multi-element ultrasound transducer stored in the memory 3005 and perform the following operations: determining a first array element and a second array element which are symmetrically arranged along a direction vertical to a rotating shaft in a first alignment direction of the multi-array-element ultrasonic transducer; gating the first array element and the second array element in sequence, scanning the reflection target by using the gated array elements, and determining a pose adjustment parameter of the probe according to the arrival time t of an echo signal reflected by the reflection target; and adjusting the pose of the probe according to the pose adjustment parameter.
Further, the pose adjustment parameters include a rotation direction and a rotation amplitude of the probe, and the step of determining the pose adjustment parameters of the probe according to the arrival time t of the echo signal reflected by the reflection target includes: calculating the difference between the arrival time t1 of a first echo signal returned by the reflecting target during the gating of the first array element and the arrival time t2 of a second echo signal returned by the reflecting target during the gating of the second array element; when the absolute value of the arrival time difference value is larger than an arrival time threshold t0, determining the rotation direction of the probe according to the positive and negative of the arrival time difference value, and determining the rotation amplitude of the probe according to the absolute value of the arrival time difference value, wherein the rotation axis in the first contraposition direction is the uniform distribution direction of the array elements.
Further, the processor 3001 may invoke a network operation control application stored in the memory 3005, and also perform the following operations: controlling the probe to move in a second alignment direction, scanning the reflecting target by using the gated array elements, and determining the peak value position of the echo amplitude of the probe in the second alignment direction according to a plurality of third echo signals reflected by the reflecting target; and controlling the probe to move to the determined peak position, and finishing the alignment of the probe in the second alignment direction.
Further, the step of controlling the probe to move to the determined peak position further comprises: recording the currently determined peak position as a first target position; adjusting the scanning parameters of the gated array elements, scanning the reflection targets according to the adjusted scanning parameters, re-determining the peak position of the echo amplitude of the probe in the second alignment direction, and taking the peak position as a second target position; calculating the absolute value of the difference between the first target position and the second target position in the second alignment direction, and comparing the absolute value of the difference with a preset value; and if the absolute value of the difference is smaller than or equal to the preset value, taking the second target position as the final moving position of the probe, and controlling the probe to move to the second target position.
Further, before the step of determining the first array element and the second array element of the multi-array element ultrasonic transducer symmetrically arranged along the rotation axis of the first contraposition direction, the method further comprises: establishing a three-dimensional coordinate system by taking a horizontal plane as an X-Y plane, taking the uniformly distributed direction of a plurality of array elements as a Y axis and taking the direction vertical to the horizontal plane as a Z axis; one tangent plane of the reflecting target is parallel to the horizontal plane; and determining the first alignment direction as a rotation direction taking the Y axis as a rotation axis, wherein the second alignment direction comprises a Z-axis direction and a rotation direction taking the X axis as a rotation axis.
Further, the step of determining the peak position of the echo amplitude of the probe in the second alignment direction according to the plurality of third echo signals reflected back by the reflection target comprises: calculating a plurality of reference values of a plurality of third echo signals; the reference value comprises a peak-to-peak value or an echo envelope of the third echo signal; fitting a plurality of reference values to obtain a third echo signal with the maximum peak value; and determining the scanning position corresponding to the third echo signal with the maximum peak value as the peak value position of the echo amplitude of the probe in the second alignment direction.
Furthermore, the first echo signal, the second echo signal and the third echo signal all carry three-dimensional coordinate information of a scanning point corresponding to the echo signal.
Referring to fig. 4, a first embodiment of a method for aligning a multi-array element ultrasonic transducer includes the following steps:
step S400, determining a first array element and a second array element which are symmetrically arranged along the direction vertical to the rotating shaft of the first contraposition direction of the multi-array-element ultrasonic transducer;
the multi-array element ultrasonic transducer of the embodiment comprises a plurality of array elements which are uniformly distributed on a probe, and the second alignment direction needing alignment comprises but is not limited to a displacement direction facing a reflection target and a rotation direction taking a straight line on an ultrasonic signal emission surface of the array element as a rotation axis. When the multi-element ultrasonic transducer is a convex transducer array, alignment needs to be performed in multiple degrees of freedom. The present embodiment is described by taking a planar transducer as an example. In order to more simply complete the alignment of the probe, in this embodiment, the second alignment direction includes a displacement direction facing the reflective target, a rotation direction taking the distribution direction of the array elements as a rotation axis, and a rotation direction taking the distribution direction perpendicular to the array elements as a rotation axis. Wherein, the rotation direction taking the distribution direction of the array elements as the rotation axis is the first alignment direction. The displacement direction facing the reflection target and the rotation direction taking the distribution direction vertical to the array elements as a rotation axis are taken as a second alignment direction.
Referring to fig. 5, the first array element 51 and the second array element 52 determined by the terminal are two symmetrical array elements, the symmetry axis is the uniform distribution direction of the plurality of array elements, and the uniform distribution direction of the plurality of array elements is the direction perpendicular to the rotation axis in the first alignment direction.
Referring to fig. 6, in one embodiment, step S400 includes:
s600, establishing a three-dimensional coordinate system by taking a horizontal plane as an X-Y plane, taking the uniform distribution direction of a plurality of array elements as a Y axis and taking a direction vertical to the horizontal plane as a Z axis; one tangent plane of the reflecting target is parallel to the horizontal plane;
step S610, determining that the first alignment direction is a rotation direction using the Y axis as a rotation axis, and the second alignment direction includes a Z axis direction and a rotation direction using the X axis as a rotation axis.
Referring to fig. 7, specifically, the terminal establishes a three-dimensional coordinate system with the center of the ultrasonic signal emitting surface of the array element as an origin, a horizontal plane including the origin as an X-Y plane, a direction in which the plurality of array elements are uniformly distributed as a Y axis, and a direction perpendicular to the horizontal plane as a Z axis. In this embodiment, the first alignment direction includes a rotation direction having the Y axis as a rotation axis, and the second alignment direction includes a Z axis direction and a rotation direction having the X axis as a rotation axis.
S410, sequentially gating the first array element and the second array element, scanning the reflection target by using the gated array elements, and determining a pose adjustment parameter of the probe according to the arrival time t of an echo signal reflected by the reflection target;
referring to fig. 8, in one embodiment, the pose adjustment parameters include a rotation direction and a rotation amplitude of the probe, and the step of determining the pose adjustment parameters of the probe according to the arrival time t of the echo signal reflected by the reflection target includes:
step S800, calculating the arrival time difference value between the arrival time t1 of the first echo signal returned by the reflecting target during the first array element gating and the arrival time t2 of the second echo signal returned by the reflecting target during the second array element gating;
step S810, when the absolute value of the arrival time difference value is greater than the arrival time threshold value t0, determining the rotation direction of the probe according to the positive and negative of the arrival time difference value, and determining the rotation amplitude of the probe according to the absolute value of the arrival time difference value, wherein the rotation axis in the first alignment direction is the uniform distribution direction of the array elements.
And the terminal gates the first array element by using the array element gating unit and scans the reflecting target by using the gated first array element. Specifically, the terminal excites a first array element by using an excitation source, the first array element emits an ultrasonic signal outwards, and the reflection target is scanned by using the ultrasonic signal. The probe is in a static state when the first array element scans the reflecting target. The first array element receives a first echo signal reflected by the reflection target, the first echo signal is amplified by the excitation source and then collected by the oscilloscope, and the terminal obtains the arrival time t1 of the first echo signal according to the first echo signal collected by the oscilloscope. The terminal gates the second array element by using the array element gating unit 10, and performs the steps as the gating of the first array element, and obtains the second echo signal of the second echo signal obtained by scanning the second array element by time t 2. And the terminal determines the pose adjustment parameters of the probe according to the arrival time t1 of the first echo signal and the arrival time t2 of the second echo signal.
In one embodiment, the first echo signal and the second echo signal both carry three-dimensional coordinate information of a scanning point corresponding to the echo signal. The terminal can determine the pose adjustment parameters of the probe according to the three-dimensional coordinate information of the scanning point.
The terminal calculates an arrival time difference value delta t of a first echo signal arrival time t1 and a second echo signal arrival time t2, compares the arrival time difference value delta t with an arrival time threshold value t0, determines the rotation direction of the probe according to the positive and negative of the arrival time difference value delta t, and determines the rotation amplitude of the probe according to the absolute value of the arrival time difference value delta t and three-dimensional coordinate information of a scanning point corresponding to the echo signals carried in the first echo signal and the second echo signal. When the arrival time difference value delta t is zero, the optimal measurement position of the multi-array element ultrasonic transducer is obtained, and the pose of the probe does not need to be adjusted.
And step S420, adjusting the pose of the probe according to the pose adjustment parameters.
And the terminal controls the action of the mechanical arm to control the movement of the probe clamped on the clamp of the mechanical arm so as to adjust the pose of the probe. Specifically, the terminal sends instructions to the mobile control box to control the actions of the mechanical arm and the clamp, and the movement of the probe is controlled through the actions of the mechanical arm and the clamp. The mechanical arm adopted by the embodiment is a six-degree-of-freedom mechanical arm. The six-degree-of-freedom mechanical arm can be provided with a rotation center at will, so that the moving range required by the ultrasonic transducer and the clamp is smaller during alignment, the efficiency is higher, and the occupied space for measurement is smaller. And finishing the alignment of the probe in the first alignment direction.
In this embodiment, the terminal may further repeat steps S400 to S420 for multiple times to improve the alignment accuracy.
In the embodiment, the reflection target is scanned by using the gated array elements to obtain a first echo signal reflected by the reflection target, symmetrical array elements symmetrical to the array elements are gated, the reflection target is scanned by using the symmetrical array elements to obtain a second echo signal reflected by the reflection target, a time difference value between the arrival time of an echo of the first echo signal and the arrival time of an echo of the second echo signal is calculated, the pose of the probe is adjusted by using the distribution direction of the array elements as a rotating shaft according to the time difference value, wherein the pose of the probe when the arrival time difference value is zero is the optimal measurement position of the multi-array-element ultrasonic transducer, and the pose of the probe is adjusted by the time difference value, so that the probe can be adjusted to the optimal measurement position, the automatic alignment of the multi-array-element ultrasonic transducer is realized, manual participation is not needed, and the method is very convenient.
Referring to fig. 9, a second embodiment of a method for aligning a multi-array element ultrasonic transducer, based on the embodiment shown in fig. 4, the method for aligning a multi-array element ultrasonic transducer further includes:
step S900, controlling the probe to move in a second alignment direction, scanning the reflection target by using the gated array element, and determining the peak position of the echo amplitude of the probe in the second alignment direction according to a plurality of third echo signals reflected by the reflection target;
the second alignment direction includes a Z-axis direction and a rotation direction with the X-axis as a rotation axis. The terminal arbitrarily selects and determines one second alignment direction from the second alignment directions to perform step S800.
And the terminal sends an instruction to the mobile control box to control the actions of the mechanical arm and the clamp, so that the probe is controlled to move in the second alignment direction. Specifically, when the determined second alignment direction is the Z-axis direction, the probe performs displacement motion in the Z-axis direction. And when the determined second alignment direction is a rotation direction taking the X axis as a rotation axis, the probe performs a rotation motion in the rotation direction taking the X axis as the rotation axis.
The terminal randomly gates an array element by using the array element gating unit, the probe moves in the second alignment direction, and simultaneously the terminal excites the currently gated array element by using the excitation source, the array element emits an ultrasonic signal outwards, and the ultrasonic signal is used for scanning the reflection target. And during initial scanning, the terminal initializes the alignment parameters. The alignment parameters include a peak position, a third echo signal, a reference value and a scan zero point. The scan zero point is the initial scan position of the probe. The probe scans the reflecting target according to certain scanning parameters. Wherein the scan parameter includes a scan range. The scanning range is a spatial range with the scanning zero point as a reference point, for example, the scanning range is [ -a, a ], a is greater than or equal to 0, and the scanning range in the actual scanning process of the probe is within a positive and negative a value range with the scanning zero point as an origin. In this embodiment, the scanning mode adopted by the probe may be, but is not limited to, continuous scanning or step scanning. When the scanning mode is continuous scanning, the scanning parameters also comprise scanning frequency, and the probe scans the reflecting target at a certain scanning frequency in the moving process. When the scanning mode is step scanning, the scanning parameters also comprise scanning step length, when the probe moves for one scanning step length, the probe stops moving and scans the reflecting target by utilizing the gated array element to obtain a third echo signal, and then the probe continues to move for the next scanning step length to obtain the next third echo signal.
In the scanning process, the gated array element receives a plurality of third echo signals reflected by the reflection target, the plurality of third echo signals are amplified by the excitation source and then collected by the oscilloscope, and the terminal determines the peak position of the echo amplitude of the probe in the second alignment direction according to the plurality of third echo signals collected by the oscilloscope. And the peak position of the echo amplitude is the scanning position of the corresponding probe when the third echo signal with the maximum peak value is obtained. Specifically, the terminal acquires a plurality of peak values of a plurality of third echo signals, and determines the third echo signal with the largest peak value according to the plurality of peak values, so as to obtain a scanning position of the probe when the third echo signal with the largest peak value is obtained by scanning, and determine the scanning position as the peak value position of the echo amplitude.
Referring to fig. 10, in one embodiment, the step of determining the peak position of the echo amplitude of the probe in the second alignment direction according to the plurality of third echo signals reflected back by the reflection target includes:
step S101, calculating a plurality of reference values of a plurality of third echo signals; the reference value comprises a peak-to-peak value or an echo envelope of the third echo signal;
step S102, fitting a plurality of reference values to obtain a third echo signal with the maximum peak value;
step S103, determining a scanning position corresponding to the third echo signal with the maximum peak value as a peak position of the echo amplitude of the probe in the second alignment direction.
And when the reference value is the peak value of the third echo signal, the terminal calculates to obtain a plurality of peak values corresponding to the plurality of third echo signals. And the terminal fits the multiple reference values to obtain a maximum peak-to-peak value, and further obtains a corresponding third echo signal according to the maximum peak-to-peak value. The echo envelope is a change curve of the amplitude of the third echo signal along with time, and when the reference value is the echo envelope of the third echo signal, the terminal calculates and obtains change data of the amplitude of the third echo signal along with time so as to obtain the corresponding echo envelope. And the terminal fits a plurality of echo envelopes corresponding to the plurality of third echo signals to obtain a third echo signal with the maximum amplitude peak value in the echo envelopes, namely the third echo signal with the maximum peak value. Further, the terminal determines a scanning position corresponding to the probe when the third echo signal with the maximum peak value is obtained as the peak position of the echo amplitude of the probe in the currently determined second alignment direction.
In one embodiment, the third echo signal carries three-dimensional coordinate information of a scanning point corresponding to the third echo signal. In the scanning process, the probe is in motion, that is, the three-dimensional coordinate system also moves along with the motion of the probe, and the reflection target is static, so that scanning points corresponding to third echo signals obtained by the probe at different scanning positions have different three-dimensional coordinate information, and the terminal can correspondingly determine the scanning position of the probe when the third echo signal corresponding to the scanning point is obtained according to the three-dimensional coordinate information of the scanning points. Specifically, the terminal obtains the scanning position of the probe when the third echo signal with the maximum peak value is obtained through scanning according to the three-dimensional coordinate information of the scanning point corresponding to the third echo signal with the maximum peak value, and determines the scanning position as the peak value position of the echo amplitude.
Step S910, controlling the probe to move to the determined peak position, and completing the alignment of the probe in the second alignment direction.
In one embodiment, the step of controlling the probe to move to the determined peak position comprises: controlling the motion of the mechanical arm to move the probe clamped on the clamp of the mechanical arm to the determined peak position. Specifically, the terminal sends instructions to the mobile control box to control the actions of the mechanical arm and the clamp, and the movement of the probe is controlled through the actions of the mechanical arm and the clamp. The mechanical arm adopted by the embodiment is a six-degree-of-freedom mechanical arm. At this point, the probe has finished aligning in a second alignment direction determined in step S900.
The terminal determines the next second alignment direction, and executes the steps S900 and S910 to complete the alignment of the probe in the second alignment direction until the probe is aligned in all the second alignment directions.
Referring to fig. 11, in one embodiment, the step of controlling the probe to move to the determined peak position further includes:
step S111, recording the currently determined peak position as a first target position;
when the probe moves to the currently determined peak position, the terminal records the peak position determined in step S910 as the first target position. Further, the terminal stores the first target position in a cache to be read for use.
Step S112, adjusting the scanning parameters of the gated array element, scanning the reflection target according to the adjusted scanning parameters, re-determining the peak position of the echo amplitude of the probe in the second alignment direction, and taking the peak position as a second target position;
when the scanning mode is continuous scanning, the terminal adjusts the scanning range and the scanning frequency. Specifically, the terminal reduces the scanning range when step S900 is performed and increases the scanning frequency when step S900 is performed. In this embodiment, the scanning range is reduced to half of the original range, and the scanning frequency is increased to twice of the original range. When the scanning mode is step scanning, the terminal adjusts the scanning range and the scanning step length. Specifically, the terminal narrows the scanning range when step S410 is performed, and decreases the scanning step size when step S410 is performed. In this embodiment, both the scanning range and the scanning step length are reduced to half of the original values. And the terminal assigns the alignment parameters again. Specifically, the terminal assigns the first target position to the peak position and serves as a new scan zero.
And the terminal controls the gated array element to scan the reflecting target according to the adjusted scanning parameters, re-determines the peak position of the echo amplitude of the probe in the second alignment direction according to the method of the first embodiment, and records the peak position as a second target position.
Step S113, calculating the absolute value of the difference between the first target position and the second target position in the second alignment direction, and comparing the absolute value of the difference with a preset value;
in this embodiment, the preset value is half of an absolute value of a difference between scanning positions of two adjacent scanning in the second alignment direction when the probe scans with the adjusted scanning parameters.
And step S114, if the absolute value of the difference is smaller than or equal to the preset value, taking the second target position as the final moving position of the probe, and controlling the probe to move to the second target position.
And if the absolute value of the difference is smaller than or equal to the preset value, returning to the step S400 to re-determine the peak position for alignment.
In this embodiment, the terminal scans the reflection target while controlling the probe to move in the second alignment direction, to obtain a plurality of third echo signals reflected by the reflection target, further search for an echo signal with the maximum peak value, and move the probe to the scanning position of the probe when obtaining the third echo signal with the maximum peak value, where the scanning position of the probe when obtaining the third echo signal with the maximum peak value is the best measurement position of the probe, so that automatic alignment of the multi-array element ultrasonic transducer in a plurality of alignment directions is achieved, without manual intervention, and the method is very convenient.
Based on the embodiment shown in fig. 4, the aligning apparatus of a multi-array element ultrasonic transducer further includes a memory, a processor, and an aligning program of the multi-array element ultrasonic transducer, which is stored in the memory and is executable on the processor, and when the aligning program of the multi-array element ultrasonic transducer is executed by the processor, the steps of any one of the aligning method embodiments of the multi-array element ultrasonic transducer described above are implemented.
Referring to fig. 1 and fig. 2, an alignment system of a multi-array element ultrasonic transducer is further provided in an embodiment of the present invention, based on the embodiment shown in fig. 4, the reflection target, the alignment apparatus of the multi-array element ultrasonic transducer, the probe, and the mechanical arm are electrically connected in sequence; the probe is clamped on the mechanical arm through a clamp arranged on the mechanical arm.
The embodiment of the present invention further provides a storage medium, where an alignment program of the multi-array element ultrasonic transducer is stored on the storage medium, and when the alignment program of the multi-array element ultrasonic transducer is executed by a processor, the steps of any one of the above-mentioned embodiments of the alignment method of the multi-array element ultrasonic transducer are implemented.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A method for aligning a multi-element ultrasonic transducer, wherein the multi-element ultrasonic transducer comprises a plurality of array elements which are uniformly distributed on a probe, and the method for aligning the multi-element ultrasonic transducer comprises the following steps:
determining a first array element and a second array element which are symmetrically arranged along a direction vertical to a rotating shaft in a first alignment direction of the multi-array-element ultrasonic transducer;
gating the first array element and the second array element in sequence, scanning the reflection target by using the gated array elements, and determining a pose adjustment parameter of the probe according to the arrival time t of an echo signal reflected by the reflection target;
and adjusting the pose of the probe according to the pose adjustment parameter.
2. The method of aligning a multi-element ultrasonic transducer according to claim 1, wherein the pose adjustment parameters include a rotation direction and a rotation amplitude of a probe, and the step of determining the pose adjustment parameters of the probe according to the arrival time t of the echo signals reflected by the reflection targets comprises:
calculating the difference between the arrival time t1 of a first echo signal returned by the reflecting target during the gating of the first array element and the arrival time t2 of a second echo signal returned by the reflecting target during the gating of the second array element;
when the absolute value of the arrival time difference value is larger than an arrival time threshold t0, determining the rotation direction of the probe according to the positive and negative of the arrival time difference value, and determining the rotation amplitude of the probe according to the absolute value of the arrival time difference value, wherein the rotation axis in the first contraposition direction is the uniform distribution direction of the array elements.
3. The method of aligning a multi-element ultrasonic transducer according to claim 1 or 2, wherein the method of aligning a multi-element ultrasonic transducer further comprises:
controlling the probe to move in a second alignment direction, scanning the reflecting target by using the gated array elements, and determining the peak value position of the echo amplitude of the probe in the second alignment direction according to a plurality of third echo signals reflected by the reflecting target;
and controlling the probe to move to the determined peak position, and finishing the alignment of the probe in the second alignment direction.
4. The method of aligning a multi-element ultrasound transducer according to claim 3, wherein said step of controlling said probe to move to said determined peak position further comprises:
recording the currently determined peak position as a first target position;
adjusting the scanning parameters of the gated array elements, scanning the reflection targets according to the adjusted scanning parameters, re-determining the peak position of the echo amplitude of the probe in the second alignment direction, and taking the peak position as a second target position;
calculating the absolute value of the difference between the first target position and the second target position in the second alignment direction, and comparing the absolute value of the difference with a preset value;
and if the absolute value of the difference is smaller than or equal to the preset value, taking the second target position as the final moving position of the probe, and controlling the probe to move to the second target position.
5. The method of aligning a multi-element ultrasonic transducer according to claim 3, wherein said step of determining the first and second elements of said multi-element ultrasonic transducer symmetrically disposed about the axis of rotation in the first alignment direction further comprises:
establishing a three-dimensional coordinate system by taking a horizontal plane as an X-Y plane, taking the uniformly distributed direction of a plurality of array elements as a Y axis and taking the direction vertical to the horizontal plane as a Z axis; one tangent plane of the reflecting target is parallel to the horizontal plane;
and determining the first alignment direction as a rotation direction taking the Y axis as a rotation axis, wherein the second alignment direction comprises a Z-axis direction and a rotation direction taking the X axis as a rotation axis.
6. The method of aligning a multi-element ultrasonic transducer according to claim 3, wherein the step of determining the peak position of the echo amplitude of the probe in the second alignment direction according to the plurality of third echo signals reflected back from the reflective target comprises:
calculating a plurality of reference values of a plurality of third echo signals; the reference value comprises a peak-to-peak value or an echo envelope of the third echo signal;
fitting a plurality of reference values to obtain a third echo signal with the maximum peak value;
and determining the scanning position corresponding to the third echo signal with the maximum peak value as the peak value position of the echo amplitude of the probe in the second alignment direction.
7. The method of claim 3, wherein the first echo signal, the second echo signal and the third echo signal each carry three-dimensional coordinate information of a scanning point corresponding to the echo signal.
8. An alignment device for a multi-element ultrasonic transducer, comprising: a memory, a processor and a program for aligning a multi-element ultrasound transducer stored on the memory and executable on the processor, the program for aligning a multi-element ultrasound transducer when executed by the processor implementing the steps of the method for aligning a multi-element ultrasound transducer as claimed in any one of claims 1 to 7.
9. An alignment system of a multi-element ultrasonic transducer, comprising: a reflecting target, an aligning device of the multi-array element ultrasonic transducer, a probe and a mechanical arm which are electrically connected in turn; the probe is clamped on the mechanical arm through a clamp arranged on the mechanical arm.
10. A storage medium, characterized in that the storage medium stores thereon a program for aligning a multi-element ultrasonic transducer, and the program for aligning a multi-element ultrasonic transducer is executed by a processor to implement the steps of the method for aligning a multi-element ultrasonic transducer according to any one of claims 1 to 7.
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