CN112075957B - Mammary gland circular scanning track planning method and device and computer readable storage medium - Google Patents
Mammary gland circular scanning track planning method and device and computer readable storage medium Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
- A61B8/0825—Detecting organic movements or changes, e.g. tumours, cysts, swellings for diagnosis of the breast, e.g. mammography
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- 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
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- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B8/54—Control of the diagnostic device
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Abstract
The invention discloses a breast circular scanning track planning method, which comprises the steps of constructing a three-dimensional model of a breast; acquiring a 3D position coordinate and a scanning radius of a nipple; calculating the number of circular scanning tracks and the spacing distance between two adjacent circular scanning tracks according to the scanning width of the ultrasonic probe, the 3D position coordinates of the nipple and the scanning radius; and sequentially generating annular scanning tracks downwards by taking the 3D position coordinates of the nipple as the circle center according to the number of the annular scanning tracks and the interval distance between two adjacent annular scanning tracks. The invention is beneficial to improving the accuracy, the standardization degree and the coverage of the scanning result. In addition, the invention also discloses a mammary gland circular scanning track planning device and a computer readable storage medium.
Description
Technical Field
The invention relates to the technical field of breast scanning, in particular to a breast circular scanning track planning method, a breast circular scanning track planning device and a computer readable storage medium.
Background
Mammary gland diseases are common gynecological diseases and seriously threaten the health and even the life of women all over the world. With the development of science and technology, the diagnosis technology and treatment method of breast diseases are greatly improved. The common main points are molybdenum target soft X-ray examination, ultrasonic imaging examination, near infrared scanning examination, CT examination and the like.
The existing breast scanning mode generally uses a mechanical arm to clamp an ultrasonic probe and then rotates around the breast according to a preset fixed path. However, due to the difference in size of the breast, the whole part of the breast cannot be scanned by the ultrasonic probe, and thus the existing scanning result has errors.
Disclosure of Invention
The invention mainly aims to provide a breast circular scanning track planning method, and aims to solve the technical problem that the existing scanning mode cannot enable an ultrasonic probe to scan a part of breasts integrally.
In order to solve the technical problem, the invention provides a breast circular scanning trajectory planning method, which comprises the following steps:
constructing a three-dimensional model of the breast;
acquiring a 3D position coordinate and a scanning radius of a nipple;
calculating the number of circular scanning tracks and the spacing distance between two adjacent circular scanning tracks according to the scanning width of the ultrasonic probe, the 3D position coordinate of the nipple and the scanning radius;
and sequentially generating the circular scanning tracks downwards by taking the 3D position coordinates of the nipple as the circle center according to the number of the circular scanning tracks and the interval distance between two adjacent circular scanning tracks.
Preferably, the step of acquiring the 3D position coordinates of the nipple includes:
constructing a two-dimensional graph of the breast;
mapping the two-dimensional image of the breast into a three-dimensional model of the breast;
the 3D position coordinates of the nipple are selected according to its mapped point in the three-dimensional model of the breast in the two-dimensional map of the breast.
Preferably, the step of calculating the number of circular scanning tracks and the spacing distance between two adjacent circular scanning tracks according to the scanning width of the ultrasonic probe, the 3D position coordinates of the nipple and the scanning radius R comprises:
calculating the number of the circular scanning tracks according to the following formula:
calculating the spacing distance between two adjacent circular scanning tracks according to the following formula:
wherein R is the scanning radius, A is an adjustable parameter, R is the scanning width of the ultrasonic probe, and ceil represents upward rounding.
Preferably, after the step of sequentially generating the circular scanning trajectories downward from the 3D position coordinates of the nipple as the center of the circle according to the number of the circular scanning trajectories and the interval distance between two adjacent circular scanning trajectories, the breast circular scanning trajectory planning method further includes:
acquiring a normal vector of a certain coordinate point in the circular scanning track;
and calculating the attitude parameter of the ultrasonic probe at the certain coordinate point according to the normal vector.
Preferably, the step of calculating the attitude parameter of the ultrasound probe at the coordinate point according to the normal vector comprises:
the X, Y, Z axis vector of a certain coordinate point is respectively calculated according to the following formula:
Vz＝P；
Vy＝norm(PO×Vz)；
Vx＝norm(Vy×Vz)；
wherein, P is a normal vector of a certain point, norm represents that the length of the normalized vector is a unit length, and PO is a vector from a certain coordinate point to a nipple 3D point.
The invention further provides a mammary gland circular scanning track planning device, which comprises:
a three-dimensional model generation module for constructing a three-dimensional model of the breast;
the first acquisition module is used for acquiring the 3D position coordinates and the scanning radius of the nipple;
the first calculation module is used for calculating the number of circular scanning tracks and the spacing distance between two adjacent circular scanning tracks according to the scanning width of the ultrasonic probe, the 3D position coordinate of the nipple and the scanning radius;
and the circular scanning track generation module is used for sequentially generating the circular scanning tracks downwards by taking the 3D position coordinates of the nipple as the circle center according to the number of the circular scanning tracks and the interval distance between every two adjacent circular scanning tracks.
Preferably, the first obtaining module includes:
a two-dimensional graph generating unit for acquiring a two-dimensional graph of the breast;
a mapping unit for mapping the two-dimensional image of the breast into a three-dimensional model of the breast;
a selection unit for selecting a 3D position coordinate of a nipple according to a mapped point of the nipple in a three-dimensional model of the breast in a two-dimensional graph of the breast.
Preferably, the first calculation module comprises:
the number calculating unit is used for calculating the number of the circular scanning tracks;
and the distance calculation unit is used for calculating the spacing distance between two adjacent circular scanning tracks.
Preferably, the breast sweeping trajectory planning device further comprises:
the second acquisition module is used for acquiring a normal vector of a certain coordinate point in the circular scanning track;
and the second calculation module is used for calculating the attitude parameter of the ultrasonic probe at the certain coordinate point according to the normal vector.
The invention also proposes a computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, implements the aforementioned breast sweeping trajectory planning method.
According to the breast circumferential scanning trajectory planning method provided by the embodiment of the invention, the three-dimensional model of the breast of the patient is obtained, and the circumferential scanning trajectories of the trajectory rings are sequentially generated downwards by taking the nipple as a circle according to the three-dimensional model, so that the manipulator can conveniently drive the ultrasonic probe to move along the circumferential scanning trajectory, and the accuracy, the standardization degree and the coverage degree of the scanning result can be improved.
Drawings
FIG. 1 is a flowchart illustrating a breast scanning trajectory planning method according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a breast scanning trajectory planning method according to another embodiment of the present invention;
FIG. 3 is a flowchart illustrating a breast scanning trajectory planning method according to another embodiment of the present invention;
fig. 4 is a schematic structural diagram of a breast sweeping trajectory planning device according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be illustrative of the present invention and should not be construed as limiting the present invention, and all other embodiments that can be obtained by one skilled in the art based on the embodiments of the present invention without inventive efforts shall fall within the scope of protection of the present invention.
The invention provides a breast circular scanning track planning method, as shown in fig. 1, the breast circular scanning track planning method comprises the following steps:
s10, constructing a three-dimensional model of the breast.
In this step, the patient lies flat on the detection platform, and the structured light assembly on the detection platform is used to scan the breast of the patient, so as to construct a three-dimensional model consistent with the breast of the patient. Of course, at this time, the three-dimensional model can be placed in a cartesian coordinate system, so that the position information of each point on the three-dimensional model can be conveniently recorded.
And S20, acquiring the 3D position coordinates and the scanning radius of the nipple.
In this step, the nipple position may be obtained by directly recognizing the breast of the patient by using the camera, so that the 3D position coordinates of the nipple in the three-dimensional model may be calibrated when the three-dimensional model is constructed, and the scanning radius may be selected by selecting a preset value according to the size of the cup of the breast of the patient, or by detecting the edge contour of the three-dimensional model, and then selecting the radius of the circle that contains the three-dimensional model at the minimum with the nipple as the center of the circle.
And S30, calculating the number of circular scanning tracks and the spacing distance between two adjacent circular scanning tracks according to the scanning width of the ultrasonic probe, the 3D position coordinate of the nipple and the scanning radius.
In this step, the number of the circular scanning tracks is calculated according to the following formula:
calculating the spacing distance between two adjacent circular scanning tracks according to the following formula:
wherein R is the scanning radius, A is an adjustable parameter, R is the scanning width of the ultrasonic probe, and ceil represents upward rounding. In this case, a is preferably 0.9.
And S40, sequentially generating circular scanning tracks downwards by taking the 3D position coordinates of the nipple as the center of a circle according to the number of the circular scanning tracks and the interval distance between two adjacent circular scanning tracks.
In the step, a plurality of track rings (similar to contour lines in a map) are sequentially generated downwards by taking the 3D position coordinates as the circle center, and the number of the track rings is NtrThe track ring has a pitch of RtrTherefore, a circular sweeping track is obtained, and the mechanical arm only needs to move along the track ring in the circular sweeping track.
In the embodiment, the three-dimensional model of the breast of the patient is obtained, and the annular scanning tracks of the plurality of track rings are sequentially generated downwards by taking the nipple as a circle according to the three-dimensional model, so that the manipulator can conveniently drive the ultrasonic probe to move along the annular scanning tracks, and the accuracy of scanning results can be improved.
In a preferred embodiment, as shown in fig. 2, the step of acquiring the 3D position coordinates of the nipple includes:
s21, acquiring a two-dimensional image of the breast.
In the step, firstly, the patient lies on the detection platform, the breast of the patient is shot by the camera which is positioned on the detection platform and right above the nipple, and two-dimensional graphs of the breast are obtained in sequence.
S22, mapping the two-dimensional image of the breast into a three-dimensional model of the breast.
In this step, the method of mapping the two-dimensional graph into the three-dimensional model may refer to the existing method, or may be performed in the following manner, and since the peripheral contour of the two-dimensional graph is identical to the peripheral contour of the three-dimensional model, the mapping step may be completed by overlapping the peripheral contour of the two-dimensional graph and the peripheral contour of the three-dimensional model.
S23, the 3D position coordinates of the nipple are selected based on its mapped point in the three-dimensional model of the breast in the two-dimensional graph of the breast.
In this step, after the mapping is completed, the 3D position coordinates of the nipple in the three-dimensional model may be found by vertically emitting a ray passing through the nipple in the two-dimensional graph downward, and a point where the ray intersects with the three-dimensional model and the ray is the position of the nipple in the three-dimensional model, so that the 3D position coordinates of the nipple can be obtained.
In a preferred embodiment, as shown in fig. 3, after the step of sequentially generating the circular scanning tracks downward from the 3D position coordinates of the nipple according to the number of the circular scanning tracks and the interval distance between two adjacent circular scanning tracks by using the 3D position coordinates of the nipple as the center, the method further comprises:
and S50, acquiring a normal vector of a certain coordinate point in the circular scanning track.
In this step, the normal vector of a certain coordinate point may be calculated by referring to the existing method, that is, the normal vector of the point may be calculated based on the coordinate parameters of the point, which is not described in detail herein. Preferably, the normal vectors of the coordinate points are all oriented in the same direction, i.e., all oriented towards the inside or the outside of the human body.
And S60, calculating the attitude parameter of the ultrasonic probe at the certain coordinate point according to the normal vector.
In this step, the specific calculation method is to calculate the X, Y, Z axis vector of a certain coordinate point according to the following formula (the method of obtaining a certain coordinate point can be described by taking the generation of the ith trajectory as an example, the method of obtaining the (i-0.5) R axis vector with O (i.e. nipple position) as the center of spheretrIntersection line C of sphere with point cloudi(ii) a From CiIs started in the clockwise direction per interval Str(if the value is 0.002mm) distance, a series of discrete points { P }are takeniAnd (4) obtaining the position coordinates of the ith sweeping track):
Vz＝P；
Vy＝norm(PO×Vz)；
Vx＝norm(Vy×Vz)；
wherein, P is a normal vector of a certain point, norm represents that the length of the normalized vector is a unit length, and PO is a vector from a certain coordinate point to a nipple 3D point.
At this time, the attitude parameters of a certain coordinate point are: (V)x，Vy，Vz)。
In the embodiment, the posture parameter of the ultrasonic probe at a certain coordinate point in the circular scanning track is calculated, so that the manipulator can drive the ultrasonic probe to swing conveniently, the contact between the scanning surface on the ultrasonic probe and the skin of a patient is more precise, and the accuracy of the scanning result is further improved.
Based on the aforementioned proposed mammary gland circular scanning trajectory planning method, as shown in fig. 4, the present invention further provides a mammary gland circular scanning trajectory planning device, which comprises:
a three-dimensional model generation module 10 for constructing a three-dimensional model of the breast;
a first obtaining module 20, configured to obtain a 3D position coordinate and a scanning radius of a nipple;
the first calculation module 30 is configured to calculate the number of circular scanning tracks and the interval distance between two adjacent circular scanning tracks according to the scanning width of the ultrasound probe, the 3D position coordinate of the nipple, and the scanning radius;
and the circular scanning track generation module 40 is configured to sequentially generate circular scanning tracks downwards by taking the 3D position coordinates of the nipple as a circle center according to the number of the circular scanning tracks and the interval distance between two adjacent circular scanning tracks.
In a preferred embodiment, the first obtaining module 20 includes:
a two-dimensional graph generating unit for acquiring a two-dimensional graph of the breast;
a mapping unit for mapping a two-dimensional image of a breast into a three-dimensional model of the breast;
a selection unit for selecting the 3D position coordinates of the nipple from its mapped points in the three-dimensional model of the breast in the two-dimensional graph of the breast.
In a preferred embodiment, the first computing module 30 includes:
the number calculating unit is used for calculating the number of the circular scanning tracks;
and the distance calculation unit is used for calculating the spacing distance between two adjacent circular scanning tracks.
In a preferred embodiment, the breast sweeping trajectory planning device further comprises:
the second acquisition module is used for acquiring a normal vector of a certain coordinate point in the circular scanning track;
and the second calculation module is used for calculating the attitude parameter of the ultrasonic probe at a certain coordinate point according to the normal vector.
The specific steps are respectively calculating X, Y, Z axial vectors of a certain coordinate point according to the following formula:
Vz＝P；
Vy＝norm(PO×Vz)；
Vx＝norm(Vy×Vz)；
wherein, P is a normal vector of a certain point, norm represents that the length of the normalized vector is a unit length, and PO is a vector from a certain coordinate point to a nipple 3D point.
At this time, the attitude parameters of a certain coordinate point are: (V)x，Vy，Vz)。
Based on the aforementioned proposed mammary gland circular scanning trajectory planning method, the present invention further provides a mammary gland circular scanning trajectory planning device, which includes:
a memory for storing a computer program;
a processor for implementing the steps of the breast sweeping trajectory planning method as shown in fig. 1 when executing the computer program.
Based on the aforementioned proposed breast sweeping trajectory planning method, the present invention further proposes a computer-readable storage medium storing a computer program, which when executed by a processor implements the steps of the breast sweeping trajectory planning method as shown in fig. 1.
In the several embodiments provided in the present application, it should be understood that the disclosed method and apparatus may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules is only one logical division, and other divisions may be realized in practice, for example, a plurality of modules or components may be combined or integrated into another apparatus, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form.
The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
In addition, functional modules in the embodiments of the present invention may be integrated into one processing module, or each of the modules may exist alone physically, or two or more modules are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode.
The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may be stored in a computer readable storage medium. 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 and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above is only a part or preferred embodiment of the present invention, and neither the text nor the drawings should limit the scope of the present invention, and all equivalent structural changes made by the present specification and the contents of the drawings or the related technical fields directly/indirectly using the present specification and the drawings are included in the scope of the present invention.
Claims (7)
1. A breast scanning trajectory planning method is characterized by comprising the following steps:
constructing a three-dimensional model of the breast;
acquiring a 3D position coordinate and a scanning radius of a nipple;
calculating the number of circular scanning tracks and the spacing distance between two adjacent circular scanning tracks according to the scanning width of the ultrasonic probe, the 3D position coordinate of the nipple and the scanning radius;
sequentially generating the circular scanning tracks downwards by taking the 3D position coordinates of the nipple as the circle center according to the number of the circular scanning tracks and the interval distance between two adjacent circular scanning tracks;
acquiring a normal vector of a certain coordinate point in the circular scanning track;
calculating the attitude parameter of the ultrasonic probe at the certain coordinate point according to the normal vector;
wherein, X, Y, Z axial direction vectors of a certain coordinate point are respectively calculated according to the following formula:
Vz＝P；
Vy＝norm(PO×Vz)；
Vx＝norm(Vy×Vz)；
wherein, P is a normal vector of a certain point, norm represents that the length of the normalized vector is a unit length, and PO is a vector from a certain coordinate point to a nipple 3D point.
2. The breast sweeping trajectory planning method of claim 1, wherein the step of obtaining 3D position coordinates of the nipple comprises:
acquiring a two-dimensional image of a breast;
mapping the two-dimensional image of the breast into a three-dimensional model of the breast;
the 3D position coordinates of the nipple are selected according to its mapped point in the three-dimensional model of the breast in the two-dimensional map of the breast.
3. The breast circumferential scan trajectory planning method according to claim 1, wherein the step of calculating the number of circumferential scan trajectories and the separation distance between two adjacent circumferential scan trajectories according to the scan width of the ultrasound probe, the 3D position coordinates of the nipple and the scan radius R comprises:
calculating the number of the circular scanning tracks according to the following formula:
calculating the spacing distance between two adjacent circular scanning tracks according to the following formula:
wherein R is the scanning radius, A is an adjustable parameter, R is the scanning width of the ultrasonic probe, and ceil represents upward rounding.
4. A breast sweeping trajectory planning device, comprising:
a three-dimensional model generation module for constructing a three-dimensional model of the breast;
the first acquisition module is used for acquiring the 3D position coordinates and the scanning radius of the nipple;
the first calculation module is used for calculating the number of circular scanning tracks and the spacing distance between two adjacent circular scanning tracks according to the scanning width of the ultrasonic probe, the 3D position coordinate of the nipple and the scanning radius;
the circular scanning track generation module is used for sequentially generating circular scanning tracks downwards by taking the 3D position coordinates of the nipple as the circle center according to the number of the circular scanning tracks and the interval distance between two adjacent circular scanning tracks;
the second acquisition module is used for acquiring a normal vector of a certain coordinate point in the circular scanning track;
the second calculation module is used for calculating the attitude parameter of the ultrasonic probe at the certain coordinate point according to the normal vector;
wherein, X, Y, Z axial direction vectors of a certain coordinate point are respectively calculated according to the following formula:
Vz＝P；
Vy＝norm(PO×Vz)；
Vx＝norm(Vy×Vz)；
wherein, P is a normal vector of a certain point, norm represents that the length of the normalized vector is a unit length, and PO is a vector from a certain coordinate point to a nipple 3D point.
5. The breast sweeping trajectory planning device of claim 4, wherein the first acquiring module comprises:
a two-dimensional graph generating unit for acquiring a two-dimensional graph of the breast;
a mapping unit for mapping the two-dimensional image of the breast into a three-dimensional model of the breast;
a selection unit for selecting a 3D position coordinate of a nipple according to a mapped point of the nipple in a three-dimensional model of the breast in a two-dimensional graph of the breast.
6. The breast sweeping trajectory planning device of claim 4, wherein the first computing module comprises:
the number calculating unit is used for calculating the number of the circular scanning tracks;
and the distance calculation unit is used for calculating the spacing distance between two adjacent circular scanning tracks.
7. A computer-readable storage medium, characterized in that it stores a computer program which, when being executed by a processor, implements the breast sweeping trajectory planning method according to any one of claims 1-3.
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| US7677078B2 (en) * | 2006-02-02 | 2010-03-16 | Siemens Medical Solutions Usa, Inc. | Line-based calibration of ultrasound transducer integrated with a pose sensor |
| JP6253323B2 (en) * | 2013-09-26 | 2017-12-27 | キヤノン株式会社 | Subject information acquisition apparatus and control method thereof |
| US10417533B2 (en) * | 2016-08-09 | 2019-09-17 | Cognex Corporation | Selection of balanced-probe sites for 3-D alignment algorithms |
| CN106361372A (en) * | 2016-09-22 | 2017-02-01 | 华南理工大学 | Method for planning intelligent scanning path of ultrasonic probe |
| CN108670305B (en) * | 2018-06-25 | 2024-01-16 | 深圳瀚维智能医疗科技有限公司 | Automatic breast scanning device |
| CN109171817B (en) * | 2018-09-05 | 2021-12-07 | 浙江深博医疗技术有限公司 | Three-dimensional breast ultrasonic scanning method and ultrasonic scanning system |
| CN110488745B (en) * | 2019-07-23 | 2020-09-29 | 上海交通大学 | Automatic ultrasonic scanning robot for human body, controller and control method |
| CN110664438B (en) * | 2019-10-22 | 2021-09-10 | 深圳瀚维智能医疗科技有限公司 | Ultrasonic scanning track planning method and device, storage medium and computer equipment |
| CN110751719B (en) * | 2019-10-22 | 2023-09-12 | 深圳瀚维智能医疗科技有限公司 | Breast three-dimensional point cloud reconstruction method, device, storage medium and computer equipment |
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| US5027281A (en) * | 1989-06-09 | 1991-06-25 | Regents Of The University Of Minnesota | Method and apparatus for scanning and recording of coordinates describing three dimensional objects of complex and unique geometry |
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