CN112336374B - Accurate positioning device and method for carotid artery ultrasonic probe - Google Patents

Accurate positioning device and method for carotid artery ultrasonic probe Download PDF

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CN112336374B
CN112336374B CN201910734079.3A CN201910734079A CN112336374B CN 112336374 B CN112336374 B CN 112336374B CN 201910734079 A CN201910734079 A CN 201910734079A CN 112336374 B CN112336374 B CN 112336374B
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唐立新
程新耀
杨春琦
陈辉
张�杰
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Huazhong University of Science and Technology
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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
    • 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
    • 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
    • A61B8/4263—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 not mounted on the probe, e.g. mounted on an external reference frame

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Abstract

The invention belongs to the field of ultrasonic diagnosis, and particularly discloses a precise positioning device and a precise positioning method for a carotid artery ultrasonic probe. The invention can ensure that the probe is quickly and accurately positioned to the position of the initial detection in the carotid plaque reexamination to obtain the same ultrasonic section, thereby reducing the influence of subjective factors of users, leading the results of multiple diagnoses to have comparability and fundamentally solving the technical problem that the results of multiple detections cannot be effectively compared.

Description

Accurate positioning device and method for carotid artery ultrasonic probe
Technical Field
The invention belongs to the field of ultrasonic diagnosis, and particularly relates to a device and a method for accurately positioning a carotid artery ultrasonic probe.
Background
Carotid ultrasound is the most widely used carotid atherosclerosis examination technique, and in the current clinical examination, a doctor manually adjusts the position and the angle of an ultrasonic probe, probes the carotid atherosclerotic plaque of a patient and measures the size of the carotid atherosclerotic plaque. The current examination and measurement methods are highly operator dependent and subject to physiological limitations of the human brain, human eyes and human hands. When the double-inspection is carried out, the probe can not be ensured to be positioned at the same position and the same ultrasonic section as the previous probe and measurement. Therefore, the two plaque size values measured at two times have great errors, and effective comparison cannot be carried out, so that the tracking of development and change of atherosclerotic plaques and the evaluation of the curative effect of the medicament in clinic are severely restricted. At present, the method is a worldwide problem, and no effective coping method exists in the technology.
CN204536278U discloses an apparatus for positioning an ultrasound probe by using a camera, which uses the camera to position the ultrasound probe to determine a suitable scanning range, but is not related to the repositioning of the ultrasound probe in clinical carotid plaque exploration. In 2008, Stein J H et al disclose an ultrasonic probe detection device in the article "Use of particulate to identification sub-clinical vascular disease and evaluation of particulate cardiac disease risk" (Journal of the American Society of Echocardiography, 2008, 21, 93-111), where an angle dial is placed on the neck of a patient, the angle at the time of detection of the ultrasonic probe is measured and recorded with the dial, and during review, the ultrasonic probe is positioned (reset) based on the angle data stored at the time of initial detection. However, the dial itself is rough and the reading is estimated by human eyes only, which obviously lacks accuracy, and in addition, the method ignores the extreme complexity of the spatial positions of the carotid artery and the probe, the long axis of the carotid artery is not necessarily perpendicular to the shoulder plane (i.e. the plane where the dial is located), and the spatial pose of the probe has 6 degrees of freedom, so that the positioning by one angle by the dial is inaccurate.
Disclosure of Invention
Aiming at the defects or the improvement requirements of the prior art, the invention provides a device and a method for accurately positioning a carotid artery ultrasonic probe, wherein the device is combined with the characteristics of ultrasonic diagnosis, and a precise positioning mechanism and a measurement auxiliary mechanism are correspondingly designed, so that the problem of ultrasonic probe positioning in clinical carotid artery plaque exploration can be effectively solved, and meanwhile, the device also has the advantage of high positioning accuracy, and is particularly suitable for the application occasions of carotid artery ultrasonic diagnosis.
In order to achieve the purpose, the invention provides a precise positioning device of a carotid artery ultrasonic probe, which comprises a precise positioning mechanism, a bracket and a probe position measurement auxiliary mechanism, wherein: the fine positioning mechanism is fixed above the support and used for detecting the pose of the probe relative to the head of the object to be detected, the probe position measurement auxiliary mechanism is connected with the probe during use and provides a coding mark point for detecting the position of the probe, and during work, the head of the object to be detected is positioned below the fine positioning mechanism and the fine positioning mechanism respectively detects the poses of the head of the object to be detected and the probe relative to a world coordinate system so as to obtain the pose of the probe relative to the head of the object to be detected.
As a further preferred, the fine positioning mechanism uses a binocular stereo vision system for detection.
Preferably, the left and right inner eye corner points of the head of the object to be detected and the mouth center line are selected as marks of the object to be detected, and the three-dimensional coordinates of the marks of the object to be detected in the world coordinate system are detected by the fine positioning mechanism, so that the pose of the head of the object to be detected relative to the world coordinate system is obtained.
Further preferably, the pose (R, T) of the probe with respect to the head of the object to be measured is acquired using the following formula:
Figure BDA0002161574330000021
wherein R is a rotation matrix of posture difference of the probe relative to the head of the object to be measured, T is a position difference vector of the probe relative to the head of the object to be measured, RhFor the rotation matrix of the head of the object to be measured, T, relative to the world coordinate systemhFor the position vector, R, of the head of the object to be measured relative to the world coordinate systempIs a rotation matrix of the probe relative to the world coordinate system, TpIs the position vector of the probe relative to the world coordinate system.
Preferably, the carotid artery ultrasound probe precise positioning device further comprises a coarse positioning mechanism arranged below the fine positioning mechanism, and the coarse positioning mechanism is connected with the support and can rotate around the support to preliminarily constrain the pose of the head of the object to be measured.
Preferably, the coarse positioning mechanism comprises a cantilever, a baffle and a telescopic rod, wherein the cantilever is connected with the support, the upper surface of the cantilever is provided with scales, a slide way is arranged between the scales, the baffle and the telescopic rod are connected with the cantilever and can move along the slide way, when the coarse positioning mechanism works, the baffle is used for restraining the position of the head of the object to be measured, the telescopic rod is used for restraining the position of the nose tip of the object to be measured, and simultaneously, the pose of the head of the object to be measured is preliminarily determined according to the relative distance between the baffle and the telescopic rod.
As a further preference, the baffle and telescopic rod may be retractable inside the cantilever.
As a further preferred, the precise positioning device of the carotid artery ultrasonic probe further comprises a base, and the support is arranged on the base and can move along the guide rail of the base.
According to another aspect of the present invention, a method for accurately positioning a carotid artery ultrasound probe is provided, the method specifically comprises:
(1) the probe position measurement auxiliary mechanism is connected with the probe and provides coding mark points, and the poses of the head of the object to be detected and the probe relative to the world coordinate system are detected during initial inspection, so that the pose of the probe relative to the head of the object to be detected during initial inspection is obtained;
(2) and during the re-examination, the pose of the probe relative to the head of the object to be detected during the initial examination is utilized to guide a user to complete the repositioning of the probe, so that the probe is accurately positioned to the same position as the position during the initial examination.
Further preferably, the method further comprises preliminarily determining the pose of the head of the object to be measured by using a movable baffle and a telescopic rod, and preliminarily constraining the pose of the head of the object to be measured by using the baffle and the telescopic rod during the review.
Generally, compared with the prior art, the above technical solution conceived by the present invention mainly has the following technical advantages:
1. the invention uses the fine positioning mechanism to detect the poses of the head of the object to be detected and the probe relative to the world coordinate system, so as to obtain the pose of the probe relative to the head of the object to be detected, thereby ensuring that the probe can be quickly and accurately positioned to the position of the initial detection in the carotid plaque reexamination, obtaining the same ultrasonic section, and compared with the completely active positioning of a user, reducing the influence of the subjective factors of the user, leading the multiple diagnosis results to have comparability, fundamentally solving the technical problem that the multiple detection results can not be effectively compared, thereby meeting the requirements of clinical use;
2. particularly, the fine positioning mechanism adopts a binocular stereoscopic vision system, and sets the mark of the object to be detected and a calculation formula, so that the pose of the probe relative to the head of the object to be detected can be accurately obtained;
3. in addition, the invention can preliminarily determine the pose of the head of the object to be detected by arranging the coarse positioning mechanism and optimizing the specific structure of the coarse positioning mechanism, thereby restraining the position of the head of the object to be detected, providing a basis for subsequent accurate positioning regulation and control and effectively improving the working efficiency.
Drawings
FIG. 1 is a schematic structural view of a device for accurately positioning a carotid ultrasound probe constructed in accordance with a preferred embodiment of the invention;
FIG. 2 is a schematic diagram of the device for precisely positioning a carotid ultrasound probe provided by the present invention in a coarse positioning state;
FIG. 3 is a schematic diagram of the precise positioning device of the carotid artery ultrasonic probe provided by the invention in a precise positioning state;
FIG. 4 is a schematic diagram of a coordinate system of a head of an object to be measured constructed by the present invention;
FIG. 5 is a schematic illustration of a probe coordinate system and a probe position measurement assistance mechanism coordinate system constructed in accordance with the present invention;
FIG. 6 is a flow chart of an initial examination using the precise positioning device of the carotid ultrasound probe constructed in accordance with the present invention;
fig. 7 is a flow chart of the precise positioning device of the carotid artery ultrasonic probe constructed by the invention during the reexamination.
The same reference numbers will be used throughout the drawings to refer to the same or like elements or structures, wherein:
1-a fine positioning mechanism, 2-a bracket, 3-a probe position measurement auxiliary mechanism, 4-a coarse positioning mechanism, 5-a cantilever, 6-a baffle and 7-a telescopic rod.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1, the preferred embodiment of the present invention provides a precise positioning device for a carotid artery ultrasonic probe, which comprises a precise positioning mechanism 1, a stent 2 and a probe position measurement auxiliary mechanism 3, wherein: the fine positioning mechanism 1 is fixed above the support 2, a binocular stereoscopic vision system is adopted to detect the pose of the probe relative to the head of an object to be detected, the probe position measurement auxiliary mechanism 3 is connected with the probe when in use and is used for providing a coding mark point for the position of the detection probe, when in use, the head of the object to be detected is positioned below the fine positioning mechanism 1, the fine positioning mechanism 1 respectively detects the poses of the head of the object to be detected and the probe relative to a world coordinate system so as to obtain the pose of the probe relative to the head of the object to be detected, and the left inner canthus, the right inner canthus and the center line of the mouth of the head of the object to be detected are selected as marks of the object to be detected.
Further, as shown in fig. 2 to 3, the accurate positioning device of the carotid artery ultrasonic probe further comprises a coarse positioning mechanism 4 arranged below the fine positioning mechanism 1, the coarse positioning mechanism 4 is connected with the support 2 and can rotate around the support 2 for restraining the pose of the head of the object to be measured, the coarse positioning mechanism 4 comprises a cantilever 5, a baffle 6 and a telescopic rod 7, wherein the cantilever 5 is connected with the support 2, the upper surface of the cantilever 5 is provided with scales, a slide way is arranged between the scales, the baffle 6 and the telescopic rod 7 are connected with the cantilever 5 and can move along the slide way and be recovered in the cantilever 5, during operation, the baffle 6 is used for restraining the position of the head of the object to be measured, the telescopic rod 7 is used for restraining the position of the nose tip of the object to be measured, and the pose of the head of the object to be measured is preliminarily determined through the relative distance between the baffle 6 and the telescopic rod 7.
Further, the accurate positioning device of the carotid artery ultrasonic probe also comprises a base, and the bracket 2 is arranged on the base and can move along a guide rail of the base, so that the position of the whole device is adjusted.
Further, a head coordinate system O of the object to be measuredhXhYhZhAs shown in fig. 4, the construction process is: the method comprises the steps of firstly detecting three-dimensional coordinates of left and right eye corner points and a mouth center line in a world coordinate system, then taking a middle point of a connecting line of the left and right eye corner points as an original point, taking the connecting line of the left and right eye corner points as an X axis, pointing the direction of the left eye corner point as the positive direction of the X axis, then obtaining an intersection point of a YOZ plane which passes through the original point and is vertical to the X axis and the mouth center line, determining a Y axis by utilizing the intersection point and the original point, and finally determining the Z axis by utilizing a right hand rule.
Probe coordinate system OpXpYpZpAnd probe position measurement auxiliary mechanism coordinate system OtXtYtZtAs shown in fig. 5, the process of constructing the probe coordinate system is: establishing a probe coordinate system on the front end face of the probe, OpThe origin is located at the center of the front end face of the probe, ZpPerpendicular to the front face, XpPerpendicular to the side of the probe, YpDetermined by right hand rule; the coordinate system of the probe position measurement auxiliary mechanism is established by three coding mark points on the probe position measurement auxiliary mechanism 7;
when the pose of the probe relative to the world coordinate system is detected, the three-dimensional coordinates of the coded mark points on the probe position measurement auxiliary mechanism 3 are detected firstly, then the probe position measurement auxiliary mechanism coordinate system is constructed by using the position relation among the coded mark points, and the probe coordinate system is solved by the relative relation between the probe position measurement auxiliary mechanism coordinate system and the probe coordinate system, so that the pose of the probe relative to the world coordinate system is obtained.
There are three coordinate systems in the system: world coordinate system OwXwYwZwProbe coordinate system OpXpYpZpCoordinate system O with human headhXhYhZhDetecting the head pose (R) of the human body under a world coordinate systemh，Th) With the position and attitude of the ultrasonic probe (R)p，Tp) I.e. by
xw＝Rhxh+Th (1)
xw＝Rpxp+Tp (2)
In the formula, xw、xh、xpRespectively is the coordinate of a certain point in space in a world coordinate system, a probe coordinate system and a human head coordinate system, RhFor the rotation matrix of the head of the object to be measured, T, relative to the world coordinate systemhFor the position vector, R, of the head of the object to be measured relative to the world coordinate systempIs a rotation matrix of the probe relative to the world coordinate system, TpIs the position vector of the probe relative to the world coordinate system;
thus, the pose of the probe relative to the human head is:
Figure BDA0002161574330000071
in the formula, R is a rotation matrix of posture difference of the probe relative to the head of the object to be detected, and T is a position difference vector of the probe relative to the head of the object to be detected;
and recording the poses (R, T) of the lower probe relative to the head of the object to be detected during primary detection, and guiding the ultrasonic probe to position by using the parameters during reexamination.
The invention also provides a method for accurately positioning the carotid artery ultrasonic probe, which comprises the following steps:
(1) the pose of the head of the object to be detected is preliminarily determined by utilizing the movable baffle 6 and the telescopic rod 7, meanwhile, the probe position measurement auxiliary mechanism is connected with the probe, the coded mark points are provided, and then the poses of the head of the object to be detected and the probe relative to the world coordinate system are detected, so that the pose of the probe relative to the head of the object to be detected during initial check is obtained;
(2) during the reexamination, the position and the pose of the head of the object to be detected are preliminarily constrained by using the baffle 6 and the telescopic rod 7, and then the repositioning of the probe is completed by utilizing the position and the pose of the probe relative to the head of the object to be detected during the initial exploration, so that the probe is accurately positioned to the same position as during the initial exploration.
As shown in fig. 6, the operation process of the accurate positioning device for carotid artery ultrasonic probe provided by the invention during initial examination is as follows:
(a) rotating the coarse positioning mechanism 4 to be right below the fine positioning mechanism 1, restraining the head of the object to be detected by using the baffle 6, restraining the nose tip of the object to be detected by using the telescopic rod 7, and determining coarse positioning data of the head pose of the object to be detected by reading scale values on the cantilever 5;
(b) the coarse positioning mechanism 4 is moved away, and the position of the head of the object to be detected relative to the world coordinate system is detected by using a binocular stereoscopic vision system of the fine positioning mechanism 1;
(c) and (3) operating the ultrasonic probe by a user to inspect the object to be detected according to a conventional process, judging whether a carotid atherosclerotic lesion part exists or not, if not, ending, if so, manually positioning the probe to the optimal observation position of the carotid atherosclerotic plaque by the user, and detecting the position of the probe relative to a world coordinate system by using the fine positioning mechanism 1, so as to calculate and store the position of the probe relative to the head of the object to be detected.
As shown in fig. 7, the operation process of the accurate positioning device for carotid artery ultrasound probe provided by the invention for reexamination is as follows:
(i) rotating the coarse positioning mechanism 4 to be right below the fine positioning mechanism 1, and adjusting the pose of the head of the object to be detected by using a baffle 6 and a telescopic rod 7 according to the coarse positioning data of the pose of the head of the object to be detected determined in the initial check;
(ii) the coarse positioning mechanism 4 is moved away, and the pose of the head of the object to be measured relative to the world coordinate system is accurately measured by using a binocular stereo vision system of the fine positioning mechanism 1;
(iii) and (3) introducing the pose of the probe relative to the head of the object to be detected in the initial examination, positioning the probe to the same pose as that in the initial detection under the real-time guidance of the fine positioning mechanism 1, realizing the tracking inspection of the same lesion position, and recording corresponding data.
It will be understood by those skilled in the art that the foregoing is merely a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included within the scope of the present invention.

Claims (8)

1. A method for accurately positioning a carotid artery ultrasonic probe is characterized by comprising the following steps:
(1) the method comprises the following steps of utilizing a probe position measurement auxiliary mechanism to be connected with a probe and provide coding mark points, detecting the head of an object to be detected and the pose of the probe relative to a world coordinate system during initial inspection so as to obtain the pose of the probe relative to the head of the object to be detected during initial inspection, specifically, selecting the left and right inner eye corner points and the mouth center line of the head of the object to be detected as marks of the object to be detected, utilizing a fine positioning mechanism to detect the three-dimensional coordinates of the marks of the object to be detected in the world coordinate system so as to obtain the pose of the head of the object to be detected relative to the world coordinate system, and adopting the following modes to obtain the pose (R, T) of the probe relative to the head of the object to be detected:
Figure FDA0003352522910000011
wherein R is a rotation matrix of posture difference of the probe relative to the head of the object to be measured, T is a position difference vector of the probe relative to the head of the object to be measured, RhFor the rotation matrix of the head of the object to be measured, T, relative to the world coordinate systemhFor the position vector, R, of the head of the object to be measured relative to the world coordinate systempIs a rotation matrix of the probe relative to the world coordinate system, TpIs the position vector of the probe relative to the world coordinate system;
(2) and during the re-examination, the pose of the probe relative to the head of the object to be detected during the initial examination is utilized to guide a user to complete the repositioning of the probe, so that the probe is accurately positioned to the same position as the position during the initial examination.
2. The method as claimed in claim 1, further comprising initially determining the pose of the head of the object to be measured during the initial and the re-examination by using a movable barrier for restraining the position of the head of the object to be measured and a telescopic rod for restraining the position of the nose tip of the object to be measured, and initially determining the pose of the head of the object to be measured by the relative distance between the barrier and the telescopic rod.
3. A positioning device for implementing the method of accurate positioning of a carotid ultrasound probe according to claim 1 or 2, characterized in that it comprises a fine positioning means (1), a stent (2) and a probe position measurement assistance means (3), wherein: the fine positioning mechanism (1) is fixed above the support (2) and used for detecting the pose of the probe relative to the head of an object to be detected, the probe position measurement auxiliary mechanism (3) is connected with the probe during use and provides a coding mark point for detecting the position of the probe, during work, the head of the object to be detected is positioned below the fine positioning mechanism (1), and the fine positioning mechanism (1) respectively detects the poses of the head of the object to be detected and the probe relative to a world coordinate system so as to obtain the pose of the probe relative to the head of the object to be detected.
4. The carotid artery ultrasound probe positioning device as claimed in claim 3, characterized in that the fine positioning mechanism (1) uses a binocular stereo vision system for detection.
5. The carotid artery ultrasound probe positioning device as claimed in claim 3, characterized in that the carotid artery ultrasound probe positioning device further comprises a coarse positioning mechanism (4) arranged below the fine positioning mechanism (1), wherein the coarse positioning mechanism (4) is connected with the support (2) and can rotate around the support (2) for preliminarily constraining the pose of the head of the object to be measured.
6. The carotid artery ultrasonic probe positioning device according to claim 5, characterized in that the coarse positioning mechanism (4) comprises a cantilever (5), a baffle (6) and a telescopic rod (7), wherein the cantilever (5) is connected with the support (2), the upper surface of the cantilever (5) is provided with scales, a slide way is arranged between the scales, the baffle (6) and the telescopic rod (7) are connected with the cantilever (5) and can move along the slide way, in operation, the baffle (6) is used for constraining the position of the head of the object to be measured, the telescopic rod (7) is used for constraining the position of the nose tip of the object to be measured, and the pose of the head of the object to be measured is preliminarily determined according to the relative distance between the baffle (6) and the telescopic rod (7).
7. The carotid ultrasound probe localization device according to claim 6, characterized in that the baffle (6) and the telescopic rod (7) are retractable inside the cantilever (5).
8. The carotid artery ultrasound probe positioning device as claimed in claim 3, characterized in that said carotid artery ultrasound probe precise positioning device further comprises a base, said stent (2) being arranged on said base and movable along a guide rail of the base.
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