CN113384291A - Medical ultrasonic detection method and system - Google Patents
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- 238000001514 detection method Methods 0.000 title claims abstract description 72
- 230000008859 change Effects 0.000 claims abstract description 39
- 238000004891 communication Methods 0.000 claims description 46
- 239000000523 sample Substances 0.000 claims description 30
- 230000003578 releasing effect Effects 0.000 claims description 12
- 238000002604 ultrasonography Methods 0.000 claims description 9
- 210000001145 finger joint Anatomy 0.000 claims description 8
- 238000012360 testing method Methods 0.000 claims description 5
- 239000003086 colorant Substances 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims 1
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- 238000000968 medical method and process Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/42—Details of probe positioning or probe attachment to the patient
- A61B8/4209—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames
- A61B8/4218—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames characterised by articulated arms
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/54—Control of the diagnostic device
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
- A61B2034/741—Glove like input devices, e.g. "data gloves"
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Abstract
The invention discloses a medical ultrasonic detection method and a system, wherein the method comprises the following steps: acquiring a gesture and identifying key points of the gesture; normalizing the key points to a three-dimensional coordinate system to obtain coordinate values of the key points; acquiring a coordinate change value of the key point in a three-dimensional coordinate system based on the position change of the key point; and driving the ultrasonic detection device to make corresponding position change based on the coordinate change value and acquiring an ultrasonic image. The ultrasonic detection device has higher intelligent degree, the doctor can easily realize the movement and the detection of the ultrasonic detection device only by making simple gestures, the traditional ultrasonic detection equipment does not need to touch keys of an operation panel, the clinical sterile requirement is met, the operation is simple, the error is not easy to occur, and the working efficiency of the doctor can be greatly improved.
Description
Technical Field
The invention belongs to the technical field of medical instruments, and particularly relates to a medical ultrasonic detection method and system.
Background
Robotics has a wide range of applications, and in particular, robotic arms help accomplish tasks that humans normally perform. Such as factories using robotic arms for manufacturing automotive and consumer electronics, and scientific facilities using robotic arms for automating laboratory procedures such as transporting microplates. In the medical field, physicians began to use robotic arms to assist in performing testing and surgical procedures.
At present, the application of ultrasonic equipment in clinical diagnosis and treatment is very popular, mainly used for detecting acoustic differences between different tissues, pathological tissues and normal tissues of a human body, widely applied to the whole body examination of heart, abdomen, obstetrics and gynecology department, peripheral blood vessels, various small organs, bones and the like, and is indispensable detection equipment in hospitals. The ultrasonic equipment makes great contribution to doctors to accurately know the illness state of the patients, make medical treatment plans and assist treatment. The existing ultrasonic detection equipment is mainly implemented manually, a doctor carries an ultrasonic probe to perform ultrasonic scanning on the surface of a tissue to be detected of a human body to obtain an ultrasonic image, and the detection mode is low in efficiency; the ultrasonic detection equipment is also provided with a mechanical arm, the mechanical arm completes detection actions by controlling the mechanical arm to move on the touch screen, but for a doctor, the planar touch screen is not intelligent enough, the operation is troublesome, mistakes are easy to make, and the working efficiency of ultrasonic detection is greatly reduced.
Disclosure of Invention
In order to solve the problems in the prior art, the invention aims to provide a medical ultrasonic detection method and system, which have the advantages of higher intelligent degree, simple operation and difficult error, and can greatly improve the working efficiency of detection personnel.
In order to achieve the above object, in one aspect, the present invention adopts the following technical solutions: a medical ultrasound examination method comprising:
acquiring a gesture and identifying key points of the gesture;
normalizing the key points to a three-dimensional coordinate system to obtain coordinate values of the key points;
acquiring a coordinate change value of the key point in a three-dimensional coordinate system based on the position change of the key point;
and driving the ultrasonic detection device to make corresponding position change based on the coordinate change value and acquiring an ultrasonic image.
As an alternative of the present invention, the driving the ultrasonic detection device to make a corresponding position change and acquire the ultrasonic image based on the coordinate change value includes: and driving the mechanical arm to move correspondingly based on the coordinate change value, and moving the ultrasonic detection device arranged on the mechanical arm along with the mechanical arm and acquiring an ultrasonic image.
As an alternative to the present invention, the keypoints include palm keypoints and knuckle keypoints.
As an alternative of the invention, the gestures comprise gestures for indicating an up-shift, a down-shift, a left-shift, a right-shift, a forward-shift, a backward-shift, a shift in the gripping state, a rotation in the gripping state, a shift in the releasing state, a rotation in the releasing state, a shift in the gripping state and/or a rotation in the gripping state, which correspond to an up-shift, a down-shift, a left-shift, a right-shift, a forward-shift, a backward-shift, a shift in the gripping state, a rotation in the releasing state, a shift in the gripping state and/or a rotation in the gripping state of the robot arm, respectively.
On the other hand, the invention adopts the following technical scheme: a medical ultrasound detection system comprising:
the gesture acquisition module is used for acquiring gestures and identifying key points of the gestures;
the coordinate value acquisition module is used for normalizing the key points into a three-dimensional coordinate system to obtain the coordinate values of the key points; acquiring a coordinate change value of the key point in a three-dimensional coordinate system based on the position change of the key point;
the ultrasonic detection device is used for acquiring an ultrasonic image;
and the controller is used for driving the ultrasonic detection device to make corresponding position change and acquiring an ultrasonic image based on the coordinate change value.
As an alternative of the present invention, the ultrasonic testing device includes an ultrasonic probe and a mechanical arm, the ultrasonic probe is mounted on the mechanical arm, and the mechanical arm is connected with the controller.
As an alternative of the present invention, the coordinate value obtaining module includes a data processing center, the data processing center is connected with a first communication device, the controller is connected with a second communication device, and the second communication device is in communication connection with the first communication device.
As an alternative of the invention, the second communication device is wirelessly connected with the first communication device through 5G, and the second communication device is a mobile terminal with a 5G communication function. The mobile terminal is taken as the 5G communication equipment, is convenient to carry, can greatly reduce the use cost, reduces the complex operation of detection personnel, and has higher practicability.
As an alternative of the present invention, the ultrasound probe is connected to the second communication device, and the data processing center is connected to a display for displaying an ultrasound image obtained by the ultrasound probe.
As an alternative of the present invention, the gesture obtaining module includes a camera, and the camera is connected to the data processing center.
As an alternative of the present invention, an image pickup device is mounted on the mechanical arm, the image pickup device is connected to the second communication device, and the image pickup device is used for acquiring a video image of the detection area of the ultrasonic probe and displaying the video image on a display.
As an alternative of the present invention, a pressure sensor is mounted on the mechanical arm, and the pressure sensor is connected with the second communication device; the display is provided with a pressure prompting unit, and the pressure prompting unit is used for displaying different colors or character prompts according to the pressure value detected by the pressure sensor.
The invention has the beneficial effects that:
the invention provides a medical ultrasonic detection method and a system, which can be used for operating an ultrasonic detection device and acquiring a qualified ultrasonic image by a doctor by acquiring the gesture motion of the doctor and correspondingly moving a synchronous control mechanical arm, so that the doctor can operate the ultrasonic detection device according to a medical technique and acquire the qualified ultrasonic image.
Drawings
FIG. 1 is a control block diagram of an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an embodiment of the present invention;
Detailed Description
The application of the existing ultrasonic equipment in clinical diagnosis and treatment is quite popular, the ultrasonic equipment is mainly used for detecting acoustic differences among different tissues, pathological tissues and normal tissues of a human body, the ultrasonic equipment is widely applied to the general examinations of the heart, the abdomen, the obstetrics and gynecology department, peripheral blood vessels, various small organs, bones and the like, and the ultrasonic equipment is indispensable detection equipment in hospitals. The ultrasonic equipment makes great contribution to doctors to accurately know the illness state of the patients, make medical treatment plans and assist treatment. The existing ultrasonic detection equipment is mainly implemented manually, a doctor carries an ultrasonic probe to perform ultrasonic scanning on the surface of a tissue to be detected of a human body to obtain an ultrasonic image, and the detection mode is low in efficiency; the ultrasonic detection equipment is also provided with a mechanical arm, the mechanical arm completes detection actions by controlling the mechanical arm to move on the touch screen, but for a doctor, the planar touch screen is not intelligent enough, the operation is troublesome, mistakes are easy to make, and the working efficiency of ultrasonic detection is greatly reduced.
The embodiment provides a medical ultrasonic detection method, which comprises the following steps:
s1, acquiring gestures through the camera 8 and identifying key points of the gestures, wherein the key points comprise palm key points and finger joint key points;
s2, normalizing the upper, lower, left and right sides of the palm key point and the finger joint key point into a three-dimensional coordinate system according to the positions of the palm key point and the finger joint key point relative to the camera 8, and obtaining coordinate values of the palm key point and the finger joint key point on x, y and z axes in the three-dimensional coordinate system;
s3, acquiring coordinate change values of the palm key points and the finger joint key points in a three-dimensional coordinate system based on the position changes of the palm key points and the finger joint key points, thereby acquiring the position change values of the hand in the three-dimensional coordinate system;
and S4, driving the ultrasonic detection device to make corresponding position change based on the coordinate change value and acquiring an ultrasonic image. Transmitting the position change value of the hand in the three-dimensional coordinate system to a control coordinate system of the mechanical arm, and controlling the mechanical arm to move correspondingly; continuous mechanical arm movement is carried out through the grabbing or releasing action; through the movement or the rotation of the gesture, the synchronous control mechanical arm is correspondingly moved or rotated, a doctor operates the ultrasonic detection device according to a medical method, and the ultrasonic detection device acquires qualified ultrasonic images and feeds the ultrasonic images back to the doctor.
The gestures include gestures for indicating upward movement, downward movement, leftward movement, rightward movement, forward movement, backward movement, movement during grasping, rotation during grasping, movement during releasing, rotation during releasing, movement during grasping and/or rotation during grasping, which respectively correspond to upward movement, downward movement, leftward movement, rightward movement, forward movement, backward movement, movement during grasping, rotation during grasping, movement during releasing, rotation during releasing, movement during holding and/or rotation during grasping of the mechanical arm 2, and facilitate the doctor to control the mechanical arm 2 to perform ultrasonic detection on the human body. According to the invention, the ultrasonic detection device is controlled by the gesture to move and obtain the ultrasonic image, the button of the operation panel is not required to be touched like the traditional ultrasonic detection equipment, the clinical sterile requirement is met, the operation is simple, the error is not easy to occur, and the working efficiency of a doctor can be greatly improved.
As shown in fig. 1 and fig. 2, the present embodiment further provides a medical ultrasonic detection system, which adopts the ultrasonic detection method described above, and includes:
the gesture acquisition module is used for acquiring gestures and identifying key points of the gestures;
the coordinate value acquisition module is used for normalizing the key points into a three-dimensional coordinate system to obtain the coordinate values of the key points; acquiring a coordinate change value of the key point in a three-dimensional coordinate system based on the position change of the key point;
the ultrasonic detection device is used for acquiring an ultrasonic image;
and the controller 1 is used for driving the ultrasonic detection device to make corresponding position change and acquiring an ultrasonic image based on the coordinate change value.
The gesture obtaining module is used for detecting the gesture of a doctor, then recognizing the gesture of the doctor and obtaining key points of the gesture, the key points comprise palm key points and finger joint key points, the coordinate value obtaining module normalizes the key points into a three-dimensional coordinate system to obtain coordinate values of the key points, and coordinate change values of the key points in the three-dimensional coordinate system are obtained based on position changes of the key points; the controller 1 drives the ultrasonic detection device to make corresponding position change according to the coordinate change value and obtains an ultrasonic image. The ultrasonic detection device has higher intelligent degree, the doctor can easily realize the movement and the detection of the ultrasonic detection device only by making simple gestures, the traditional ultrasonic detection equipment does not need to touch keys of an operation panel, the clinical sterile requirement is met, the operation is simple, the error is not easy to occur, and the working efficiency of the doctor can be improved.
Specifically, the ultrasonic detection device comprises an ultrasonic probe 6 and a mechanical arm 2, wherein the ultrasonic probe 6 is mounted on the mechanical arm 2, and the mechanical arm 2 is connected with a controller 1. The mechanical arm 2 has a plurality of degrees of freedom, and can move the ultrasonic probe 6 back and forth up and down, left and right. After the gesture acquisition module detects the gesture of the doctor, the controller controls the mechanical arm 2 to perform corresponding movement, so that the ultrasonic probe 6 detects the human body.
In some embodiments, the gesture obtaining module includes a camera 8, and the camera 8 may adopt a common camera or a depth camera. The depth camera can acquire the depth information of the shot object, namely three-dimensional position and size information, besides the plane image, so that three-dimensional stereo data of the object can be acquired, and more accurate gestures can be acquired. Preferably, the depth camera is a binocular camera.
In some embodiments, the coordinate value obtaining module includes a data processing center 3, the data processing center 3 is connected with a first communication device 4, the controller 1 is connected with a second communication device 5, and the second communication device 5 is in communication connection with the first communication device 4. The data processing center 3 and the controller 1 can be in wired connection, and the two can also be respectively provided with a wireless communication unit to realize wireless connection, so that information interaction between the data processing center 3 and the controller 1 is realized, and after the gesture acquisition module acquires the gesture of the user, the controller 1 can send a corresponding control instruction to the mechanical arm 2, so as to realize position control of the ultrasonic probe 6. The mechanical arm 2 can be arranged at a patient end, the gesture acquisition module is arranged at a doctor end, the doctor can control the mechanical arm 2 to move nearby to realize ultrasonic detection on the patient, and the doctor can also control the mechanical arm 2 to move remotely to realize ultrasonic detection on the patient.
Preferably, the second communication device 5 is wirelessly connected with the first communication device 4 through 5G, and the second communication device 5 is a mobile terminal with a 5G communication function. The mobile terminal adopts equipment such as smart mobile phone, panel computer, and mobile terminal and controller 1 can adopt wired or LAN to be connected, and mobile terminal is as middle communication equipment, and it possesses 5G communication function, and the user uses more conveniently, and the doctor can make things convenient for quick realization to patient's ultrasonic testing.
In some embodiments, the ultrasound probe 6 is connected to the second communication device 5, and the data processing center 3 is connected to a display 7, wherein the display 7 is used for displaying the ultrasound image obtained by the ultrasound probe 6. The mechanical arm 2 clamps the ultrasonic probe 6, then the ultrasonic probe 6 is driven to move to detect a patient, an ultrasonic image acquired by the ultrasonic probe 6 is sent to the data processing center 3 through the second communication device 5, the ultrasonic image is displayed on the display 7 after being elaborately processed by the data processing center 3, and a doctor can intuitively observe the ultrasonic image through the display 7.
In some embodiments, the mechanical arm 2 is provided with an image pickup device 10, the image pickup device 10 is connected with the second communication device 5, and the image pickup device 10 is used for acquiring a video image of the detection area of the ultrasonic probe 6 and displaying the video image on the display 7. The camera device 10 adopts a high-definition camera, and can acquire video images near the ultrasonic probe 6, and the acquired video images are transmitted to the display 7 in real time, so that the mechanical arm 2 can be controlled by a doctor remotely more conveniently.
In some embodiments, the mechanical arm 2 is provided with a pressure sensor 9, and the pressure sensor 9 is connected with the second communication device 5; the doctor can better control the movement of the mechanical arm 2 according to the data detected by the pressure sensor 9.
The display 7 is provided with a pressure prompting unit, and the pressure prompting unit is used for displaying different colors or character prompts according to the pressure value detected by the pressure sensor 9. The pressure prompt unit can show colour or text suggestion on display 7, and display 7 sets up a display bar that is used for showing colour or text suggestion, and pressure sensor 9 detects the pressure value and is bigger for example, and ultrasonic probe 6 is bigger to human skin's pressure promptly, and the colour that the pressure prompt unit shows is darker like red, makes the doctor can the audio-visual understanding ultrasonic probe 6 to the pressure of human body. The doctor can control arm 2 and adjust ultrasonic probe 6 to human direction of pressing and dynamics to contact pressure is in the within range of allowwing when keeping detecting, thereby avoids producing because of contact pressure and detects the deviation.
When the ultrasonic detection system is used, a detection person sets the mechanical arm 2 at the position of a patient, sets the depth camera at the position of a doctor, uses the smart phone as 5G communication equipment, can use a wired or local area network for connection with the ultrasonic probe 6, the camera equipment 10, the pressure sensor 9 and the controller 1, connects the smart phone with the first communication device 4 through a 5G network, can make some gestures at the far end after connection is completed, processes the gestures through the data processing center 3 to obtain coordinate change values of hands after the camera 8 obtains the gestures, then sends the coordinate change values to the controller 1 through the 5G network between the first communication device 4 and the smart phone, and controls the mechanical arm 2 to correspondingly move by the controller 1 so that the ultrasonic probe 6 performs ultrasonic detection on the patient; ultrasonic image, video image and pressure information that ultrasonic probe 6, camera equipment 10 and pressure sensor 9 detected respectively transmit to data processing center 3 through the 5G network between smart mobile phone and first communication device 4 in real time, and 3 degrees data of data processing center are handled the back and are shown ultrasonic image, video image and pressure colour through display 7 for the doctor can know patient's state in real time, realizes the remote detection function. The invention takes the smart phone as the 5G communication equipment, is convenient to carry, can greatly reduce the use cost, reduces the complex operation of detection personnel and has higher practicability.
In the description of the present invention, the terms "mounted," "connected," "fixed," and the like are to be understood broadly and may be fixedly connected, detachably connected, or integrated; may be a mechanical or electrical connection; either directly or indirectly through intervening media, either internally or in any other relationship. Those skilled in the art will understand the specific meaning of the above terms in the present invention. Furthermore, the particular features, structures, etc. described in the examples can be included in at least one implementation and can be combined by one skilled in the art without conflicting therewith. The protection scope of the present invention is not limited to the above specific examples, and embodiments that can be imagined by those skilled in the art without creative efforts based on the basic technical concept of the present invention belong to the protection scope of the present invention.
Claims (10)
1. A medical ultrasonic detection method is characterized by comprising the following steps:
acquiring a gesture and identifying key points of the gesture;
normalizing the key points to a three-dimensional coordinate system to obtain coordinate values of the key points;
acquiring a coordinate change value of the key point in a three-dimensional coordinate system based on the position change of the key point;
and driving the ultrasonic detection device to make corresponding position change based on the coordinate change value and acquiring an ultrasonic image.
2. The medical ultrasonic detection method according to claim 1, wherein driving the ultrasonic detection device to make a corresponding position change based on the coordinate change value and acquiring the ultrasonic image comprises: and driving the mechanical arm (2) to move correspondingly based on the coordinate change value, and moving the ultrasonic detection device arranged on the mechanical arm (2) along with the mechanical arm (2) and acquiring an ultrasonic image.
3. The medical ultrasonic testing method according to claim 1, wherein the key points include palm key points and finger joint key points; the gestures include gestures for indicating an upward movement, a downward movement, a leftward movement, a rightward movement, an anterior movement, a posterior movement, a movement in a gripping state, a rotation in a gripping state, a movement in a releasing state, a rotation in a releasing state, a movement in a gripping state and/or a rotation in a gripping state, which correspond to an upward movement, a downward movement, a leftward movement, a rightward movement, an anterior movement, a posterior movement, a movement in a gripping state, a rotation in a gripping state, a movement in a releasing state, a rotation in a releasing state, a movement in a gripping state and/or a rotation in a gripping state of the robot arm (2), respectively.
4. A medical ultrasound inspection system, comprising:
the gesture acquisition module is used for acquiring gestures and identifying key points of the gestures;
the coordinate value acquisition module is used for normalizing the key points into a three-dimensional coordinate system to obtain coordinate values of the key points and acquiring coordinate change values of the key points in the three-dimensional coordinate system based on position changes of the key points;
the ultrasonic detection device is used for acquiring an ultrasonic image;
and the controller (1) is used for driving the ultrasonic detection device to make corresponding position change and acquiring an ultrasonic image based on the coordinate change value.
5. The medical ultrasonic testing system according to claim 4, wherein said ultrasonic testing device comprises an ultrasonic probe (6) and a mechanical arm (2), said ultrasonic probe (6) is mounted on said mechanical arm (2), said mechanical arm (2) is connected with a controller (1).
6. The medical ultrasonic detection system according to claim 5, wherein the coordinate value acquisition module comprises a data processing center (3), the data processing center (3) is connected with a first communication device (4), the controller (1) is connected with a second communication device (5), and the second communication device (5) is in communication connection with the first communication device (4).
7. The medical ultrasonic detection system according to claim 6, wherein the second communication device (5) is wirelessly connected with the first communication device (4) through 5G, and the second communication device (5) is a mobile terminal with 5G communication function.
8. The medical ultrasonic detection system according to claim 7, wherein the ultrasonic probe (6) is connected with the second communication device (5), the data processing center (3) is connected with a display (7), and the display (7) is used for displaying the ultrasonic image obtained by the ultrasonic probe (6); the gesture acquisition module comprises a camera (8), and the camera (8) is connected with the data processing center (3).
9. The medical ultrasonic detection system according to claim 8, wherein an image pickup device (10) is mounted on the mechanical arm (2), the image pickup device (10) is connected with the second communication device (5), and the image pickup device (10) is used for acquiring a video image of the detection area of the ultrasonic probe (6) and displaying the video image on a display (7).
10. The medical ultrasonic detection system according to claim 8, wherein a pressure sensor (9) is mounted on the mechanical arm (2), and the pressure sensor (9) is connected with the second communication device (5); the display (7) is provided with a pressure prompting unit, and the pressure prompting unit is used for displaying different colors or character prompts according to the pressure value detected by the pressure sensor (9).
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Application publication date: 20210914 |