CN113456106A - Carotid scanning method, device and computer readable storage medium - Google Patents
Carotid scanning method, device and computer readable storage medium Download PDFInfo
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Abstract
The application relates to the field of ultrasonic imaging, in particular to a carotid scanning method, a carotid scanning device and a computer-readable storage medium. The scanning method comprises the following steps: acquiring a three-dimensional scanning image of a target part, wherein the target part comprises a carotid artery; determining carotid artery distribution according to the three-dimensional scanning image; generating a first scanning track of a cross section of the carotid artery according to the distribution of the carotid artery; controlling an ultrasonic probe to scan according to the first scanning track, and determining the three-dimensional space position of the carotid artery in the scanning process; and determining a second scanning track of the longitudinal section of the carotid artery according to the three-dimensional space position, and scanning the carotid artery according to the second scanning track. A carotid scanning device for executing the carotid scanning method. The computer readable storage medium has stored thereon at least one instruction or program that is loaded by a processor and executes a carotid scanning method.
Description
Technical Field
The application relates to the field of ultrasonic imaging, in particular to a carotid scanning method, a carotid scanning device and a computer-readable storage medium.
Background
Carotid arteries are present on both sides of the neck in animals and humans with spines. The carotid arteries on two sides of the neck of the human body are respectively positioned on the connecting line of the mandibular angle on one side and the midpoint of the lateral clavicle. If the carotid artery is narrowed or plaque is formed, cerebral blood supply may be insufficient or cerebral infarction may be large.
The carotid artery ultrasonic image can more intuitively reflect the internal diameter and the intima-media thickness of the carotid artery and the existence of plaque in the lumen, and is one of effective methods for diagnosing and evaluating the carotid artery lesion. Therefore, in clinical practice, it is usually necessary to perform ultrasonic scanning on the carotid artery of a patient, and the carotid artery scanning result is used as a basis for judging cardiovascular and cerebrovascular diseases of the patient.
The ultrasound scanning method of the related art generally requires a doctor to judge the position of the carotid artery of a patient according to professional knowledge and working experience, and perform corresponding manual mapping. However, the method has low operation efficiency and is limited by professional knowledge and working experience of doctors, so that the quality of the finally obtained ultrasonic scanning image is difficult to control.
Disclosure of Invention
The application provides a carotid scanning method, a carotid scanning device and a computer-readable storage medium, which can solve the problem that the quality of an ultrasonic scanning image is difficult to control due to the fact that a scanning path is not planned in the related art by generating a scanning track for guiding ultrasonic scanning of a specific section.
As a first aspect of the present application, there is provided a carotid scanning method, the method comprising the steps of:
acquiring a three-dimensional scanning image of a target site, wherein the target site comprises a carotid artery;
determining carotid artery distribution according to the three-dimensional scanning image;
generating a first scanning track of a cross section of the carotid artery according to the carotid artery distribution;
controlling an ultrasonic probe to scan according to the first scanning track, and determining the three-dimensional space position of the carotid artery in the scanning process;
and determining a second scanning track of the longitudinal section of the carotid artery according to the three-dimensional space position, and scanning the carotid artery according to the second scanning track.
Optionally, the step of determining carotid artery distribution from the three-dimensional scan image comprises:
carrying out three-dimensional modeling on the target part according to the three-dimensional scanning image;
determining a carotid artery region of the carotid artery according to a three-dimensional modeling result;
identifying the position of a preset part in the carotid artery region, and determining the distribution of the carotid artery according to the identified position, wherein the preset part comprises at least one of a neck boundary, a chin and a clavicle.
Optionally, the step of generating a first scanning trajectory of a cross-section of the carotid artery according to the carotid artery distribution comprises:
determining the projection positions of the carotid artery distribution in the three-dimensional modeling result;
sampling the determined projection position to obtain a sampling position;
determining the pose of the ultrasonic probe at each sampling position along a preset moving direction;
and generating the first scanning track according to the pose of each sampling position and the preset moving direction.
Optionally, the method further comprises:
in the process of controlling the ultrasonic probe to scan according to the first scanning track, detecting whether the carotid artery is in the central area of an ultrasonic image obtained by scanning;
if not, the first scanning track is corrected according to the ultrasonic image, and scanning is continued according to the corrected first scanning track.
Optionally, the determining the three-dimensional spatial position of the carotid artery during the scanning comprises:
recording the pose of the ultrasonic probe and the acquired ultrasonic image in real time in the scanning process;
identifying coordinates of the carotid artery in the ultrasound image in real time;
and determining the three-dimensional space position of the carotid artery according to the identified coordinates and the pose of the ultrasonic probe.
Optionally, the method further comprises:
detecting whether the real-time acquired ultrasonic image comprises a standard tangent plane or not in the scanning process according to the second scanning track;
if not, searching a standard tangent plane by adjusting the pose and/or pressure of the ultrasonic probe according to a standard tangent plane searching algorithm, and storing a standard tangent plane image.
Optionally, the detecting whether a standard slice is included in the real-time acquired ultrasound image includes:
detecting whether the ultrasonic image is clear;
and/or the presence of a gas in the gas,
detecting whether a blood vessel in the ultrasonic image is straight;
and/or the presence of a gas in the gas,
and detecting whether the upper and lower membranes of the blood vessel in the ultrasonic image are clear and complete.
Optionally, the controlling an ultrasound probe to scan according to the first scanning trajectory includes:
converting the first scanning track from a first coordinate system to a second coordinate system, wherein the first coordinate system is a coordinate system corresponding to a shooting device for shooting the three-dimensional scanning image, and the second coordinate system is a coordinate system of a control device for controlling the movement of the ultrasonic probe;
and controlling the ultrasonic probe to scan according to the converted first scanning track in the second coordinate system.
As a second aspect of the present application, there is also provided a carotid scanning device for performing the carotid scanning method of the first aspect of the present application.
As a third aspect of the present application, there is also provided a computer readable storage medium having stored therein at least one instruction or program, the instruction or program being loaded and executed by a processor to implement the carotid scanning method of the first aspect of the present application.
The technical scheme at least comprises the following advantages: the method comprises the steps of obtaining a three-dimensional scanning image of a target part, determining carotid distribution according to the three-dimensional scanning image, generating a first scanning track of a cross section of the carotid according to the carotid distribution, controlling an ultrasonic probe to scan according to the first scanning track, determining a three-dimensional space position of the carotid in a scanning process, determining a second scanning track of a longitudinal section of the carotid according to the three-dimensional space position, scanning the carotid according to the second scanning track, automatically identifying the carotid, automatically generating scanning tracks of the cross section and the longitudinal section of the carotid, and automatically scanning according to the scanning tracks, so that the problem that the quality of the ultrasonic scanning image is difficult to control due to limitation of professional knowledge and working experience of a doctor is solved.
Drawings
In order to more clearly illustrate the detailed description of the present application or the technical solutions in the prior art, the drawings needed to be used in the detailed description of the present application or the prior art description will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 shows a schematic view of a carotid scanning device provided by an embodiment of the present application;
FIG. 2 shows a schematic diagram of an ultrasound probe scanning system;
FIG. 3 illustrates a flowchart of a carotid scanning method provided by an embodiment of the present application;
FIG. 3a illustrates a three-dimensional scan image of a target site provided by an embodiment;
FIG. 3b shows the schematic diagram of FIG. 3a after three-dimensional modeling;
FIG. 3c shows a schematic projection of the carotid artery distribution shown in one embodiment of the present application in the three-dimensional modeling result shown in FIG. 3 b;
FIG. 3d is a schematic diagram showing the sampled positions obtained after sampling the projected positions of the distribution of carotid arteries in the three-dimensional modeling result shown in FIG. 3 c;
FIG. 3e shows an enlarged schematic view of the carotid sampling point set of the carotid artery distribution in FIG. 3 d;
FIG. 4 illustrates a flow chart of the ultrasound probe scanning system of FIG. 2 during control of the ultrasound probe for scanning according to a first scan trajectory;
FIG. 5 shows a schematic representation of a possible standard section of the carotid artery;
FIG. 6 shows a flow chart of the ultrasound probe scanning system of FIG. 2 during control of the ultrasound probe for scanning according to a second scanning trajectory;
fig. 7 shows a schematic view of a motion control device with a 3D camera mounted at the motion end.
Detailed Description
The technical solutions in the present application will be described clearly and completely with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; the connection can be mechanical connection or electrical connection; the two elements may be directly connected or indirectly connected through an intermediate medium, or may be communicated with each other inside the two elements, or may be wirelessly connected or wired connected. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
In addition, the technical features mentioned in the different embodiments of the present application described below may be combined with each other as long as they do not conflict with each other.
Fig. 1 shows a schematic diagram of a carotid scanning device provided by an embodiment of the present application, which includes a central control device 110 for executing a carotid scanning method provided by an embodiment of the present application. The central control apparatus 110 includes:
a three-dimensional image obtaining module 120, wherein the three-dimensional image obtaining module 120 is configured to obtain a three-dimensional scanning image of the target portion.
A carotid artery distribution determination module 130, the carotid artery distribution determination module 130 being configured to determine a carotid artery distribution from the three-dimensional scan image.
A first scanning trajectory planning module 141, the first scanning trajectory planning module 141 configured to generate a first scanning trajectory of a cross-section of the carotid artery according to the carotid artery distribution. The first scanning track is used for guiding the ultrasonic probe to scan the pose in a cross section, move along the direction of the carotid artery and scan the cross section of the carotid artery.
And a second scanning trajectory planning module 142, where the second scanning trajectory planning module 142 is configured to determine a second scanning trajectory of the longitudinal section of the carotid artery according to the acquired three-dimensional spatial position of the carotid artery. The second scanning track is used for guiding the ultrasonic probe to move along the direction of the carotid artery in a longitudinal scanning pose manner so as to scan the longitudinal section of the carotid artery.
The three-dimensional image acquisition module 120, the carotid artery distribution determination module 130, the first scanning trajectory planning module 141, and the second scanning trajectory planning module 142 perform information interaction through I/O lines.
Fig. 2 shows a schematic diagram of an ultrasound probe scanning system comprising the central control device 110 of fig. 1, and further comprising a motion control device 410 and an ultrasound device 420.
In this embodiment, the motion control device 410 is a control device for controlling the motion of the ultrasonic probe, and may include a multi-axis cascading mechanical arm including a base end and a motion end, and performing tasks such as ultrasonic scanning or 3D image acquisition by controlling the motion of the motion end.
The ultrasound device 420 comprises an ultrasound probe mounted at the moving end of the motion control device 410. The central control device 110, the motion control device 410 and the ultrasound device 420 interact information via a bus.
The ultrasonic probe scanning system is used for guiding the ultrasonic probe to move along the direction of the carotid artery in a cross-section scanning pose according to the first scanning track by the central control device 110, and performing cross-section scanning on the carotid artery.
In the ultrasound probe scanning system, the central control device 110 is further configured to send the first scanning track to the motion control device 410, obtain the ultrasound probe scanning pose and the corresponding scanned ultrasound image sent by the ultrasound device 420 in real time, determine whether the ultrasound image in the ultrasound image is located outside the central area of the ultrasound image, and adjust the first scanning track.
Fig. 3 shows a flowchart of a carotid scanning method provided by an embodiment of the present application, and the embodiment shown in fig. 3 can be performed by the carotid scanning device shown in fig. 1, and the method includes the following steps:
s21: a three-dimensional scan image of a target site is acquired, the target site including a carotid artery.
Alternatively, the three-dimensional scan image may be generated from a point cloud dataset. Firstly, carrying out image acquisition on a target part by a 3D camera to form scanning information containing a point cloud data set; the scanning information is then transmitted to the central control device. The point cloud data set comprises a plurality of pixel points, and each pixel point is provided with corresponding three-dimensional coordinate data.
The target portion includes a carotid artery, and in actual implementation, the target portion may be a neck, a head, an upper body or a whole body of the subject, and only includes the carotid artery.
Referring to FIG. 3a, a three-dimensional scanned image of a target site provided by one embodiment is shown.
As can be seen from fig. 3a, the three-dimensional scanned image of the target site comprises a point cloud data set comprising a number of pixel points in a first coordinate system T. Each pixel point of the point cloud data set has corresponding three-dimensional coordinate data in the first coordinate system T to form a point cloud image of the target part. The first coordinate system T is a coordinate system corresponding to a shooting device for shooting the three-dimensional scanning image.
S22: and determining the distribution of the carotid artery according to the three-dimensional scanning image.
And the carotid artery distribution determining module determines the carotid artery distribution according to the three-dimensional scanning image.
S23: and generating a first scanning track of a cross section of the carotid artery according to the carotid artery distribution.
S24: and controlling an ultrasonic probe to scan according to the first scanning track, and determining the three-dimensional space position of the carotid artery in the scanning process.
S25: and determining a second scanning track of the longitudinal section of the carotid artery according to the three-dimensional space position, and scanning the carotid artery according to the second scanning track.
And the second scanning track planning module determines a second scanning track of the longitudinal section of the carotid artery according to the acquired three-dimensional space position of the carotid artery.
This embodiment is achieved by acquiring a three-dimensional scan image of a target site, including the carotid artery, determining carotid artery distribution according to the three-dimensional scanning image, generating a first scanning track of a cross section of the carotid artery according to the carotid artery distribution, controlling an ultrasonic probe to scan according to the first scanning track, determining the three-dimensional space position of the carotid artery in the scanning process, determining a second scanning track of the longitudinal section of the carotid artery according to the three-dimensional space position, scanning the carotid artery according to the second scanning track, realizing automatic and identification of the carotid artery, automatically generating scanning tracks of the transverse section and the longitudinal section of the carotid artery, and automatic scanning is carried out according to the scanning track, so that the problem that the quality of an ultrasonic scanning image is difficult to control due to limitation of professional knowledge and working experience of doctors is solved.
Optionally, S22: the step of determining the distribution of the carotid artery from the three-dimensional scanning image comprises the following steps:
s221: and carrying out three-dimensional modeling on the target part according to the three-dimensional scanning image.
Referring to FIG. 3b, a schematic diagram after three-dimensional modeling of FIG. 3a by an embodiment is shown.
As can be seen from fig. 3b, the schematic diagram after the three-dimensional modeling is that, on the basis of fig. 3a, points are connected to form a line according to the position relationship among the pixel points in the point cloud image, so as to form a three-dimensional grid model; the three-dimensional mesh model is then converted to a curved surface, thereby three-dimensionally imaging the target site.
S222: and determining the carotid artery region of the carotid artery according to the three-dimensional modeling result.
In practical implementation, the neck region can be segmented in the three-dimensional modeling result according to a visual algorithm, and then the carotid artery region is further determined and obtained in the neck region.
S223: identifying the position of a preset part in the carotid artery region, and determining the distribution of the carotid artery according to the identified position, wherein the preset part comprises at least one of a neck boundary, a chin and a clavicle.
Alternatively, the distribution of the carotid artery may be identified by a neural network.
Alternatively, the S23: a step of generating a first scanning trajectory of a cross-section of the carotid artery from the carotid artery distribution, comprising:
s231: determining the projection position of the carotid artery distribution in the three-dimensional modeling result.
Fig. 3c shows a projection diagram of the distribution of carotid artery in the three-dimensional modeling result shown in fig. 3b, and as can be seen from fig. 3c, the projection of the distribution of carotid artery is a set of projected carotid points 210, the set of projected carotid points 210 includes a plurality of projected carotid artery points, and each projected carotid artery point corresponds to a projection location information.
S232: and sampling the determined projection position to obtain a sampling position.
Referring to fig. 3d, a schematic diagram of the sampled positions obtained after sampling the projected positions of the carotid artery distribution shown in fig. 3c in the three-dimensional modeling result is shown. As can be seen by comparing FIG. 3c to FIG. 3d, the set of carotid artery projection points 210 of the carotid artery distribution shown in FIG. 3c is sampled to determine the set of carotid artery sampling points 310 shown in FIG. 3 d. The set of carotid sampling points 310 is a subset of the set of carotid projection points 210, the set of carotid sampling points 310 comprising a plurality of sampling points, each having corresponding three-dimensional coordinates in the first coordinate system T.
S233: determining a pose of the ultrasound probe along a preset movement direction at each sampling position.
Referring to fig. 3e, which shows an enlarged schematic diagram of the carotid artery sampling point set of the carotid artery distribution in fig. 3d, according to the three-dimensional coordinates of each sampling point in the first coordinate system T in fig. 3e, the preset moving direction and the corresponding pose of the ultrasound probe at each sampling point position can be computationally determined.
The first sampling point 311 in the carotid artery sampling point set 310 shown in fig. 3e is a starting point, the three-dimensional coordinates of the first sampling point 311 is p1 (n 1, o1, a 1), the three-dimensional coordinates of the Q-th sampling point 31Q in the carotid artery sampling point set 310 is pQ (nQ, oQ, aQ), and the preset moving direction mQ of the Q-th sampling point 31Q is: a vector pointing to the qth sampling point 31Q starting at the first sampling point 311, where Q is a positive integer greater than 1 and Q has a value equal to or less than the total number of sampling points in the set of carotid sampling points 310.
With reference to fig. 3e, taking the Q-th sampling point 31Q in fig. 3e as an example, an angle α is formed between the cross-sectional pose tQ of the ultrasonic probe at the position of the Q-th sampling point 31Q and the preset moving direction mQ. According to the preset moving direction mQ as the sum included angle alpha, the cross section pose tQ of the ultrasonic probe along the preset moving direction mQ at the position of the Q-th sampling point 31Q can be determined. Alternatively, the angle α is preset to 90 °.
S234: and generating the first scanning track according to the pose of each sampling position and the preset moving direction.
Wherein, the cross section of the carotid artery can be scanned according to the first scanning track.
The projection graph of the distribution of the carotid artery is sampled to determine a carotid artery sampling point set, then the cross-section scanning poses and scanning directions of all sampling point positions in the sampling point set are calculated, the cross-section scanning poses of all the sampling point positions are taken as a first scanning track according to the set of the scanning directions, the reliability of the calculation result of the first scanning track is guaranteed, meanwhile, the calculated amount can be reduced, and the generation efficiency of the scanning track of the ultrasonic probe is improved.
Determining the three-dimensional spatial position of the carotid artery during the scanning in step S24, comprising:
s241: and in the scanning process, recording the pose of the ultrasonic probe and the acquired ultrasonic image in real time.
Referring to fig. 4, the real-time pose of the motion end transmitted by the motion control device and the real-time ultrasound image transmitted by the ultrasound probe are acquired at the central control device, wherein the real-time pose of the motion end is the pose of the ultrasound probe because the ultrasound probe is mounted at the motion end.
S242: identifying coordinates of the carotid artery in the ultrasound image in real time.
S243: and determining the three-dimensional space position of the carotid artery according to the identified coordinates and the pose of the ultrasonic probe.
For example, in determining the three-dimensional spatial position of the actual carotid artery to determine the position of the actual carotid artery in the scanned ultrasound image, the position of the carotid artery in the scanned ultrasound image may be determined by determining the three-dimensional coordinates of the centerline of the carotid artery in the scanned ultrasound image.
Another embodiment of the present application further provides a carotid artery scanning method, where the method shown in this embodiment further includes, on the basis of the embodiment shown in fig. 3:
s31: and in the process of controlling the ultrasonic probe to scan according to the first scanning track, detecting whether the carotid artery is in the central area of the ultrasonic image obtained by scanning.
Fig. 4 shows a flow chart of the ultrasound probe scanning system of fig. 2, controlling the ultrasound probe to scan according to the first scanning trajectory. As can be seen from fig. 4, the central control device sends the first scanning trajectory determined from fig. 3 to the motion control device. And after receiving the first scanning track, the motion control equipment controls the motion tail end to move in the corresponding preset moving direction and pose according to the first scanning track, so that the ultrasonic probe installed at the position of the motion tail end can scan the pose in the corresponding cross section along the preset moving direction and scan the cross section of the carotid artery. And when the ultrasonic probe scans the cross section of the carotid artery, a real-time ultrasonic image is obtained.
S32: if not, the first scanning track is corrected according to the ultrasonic image, and scanning is continued according to the corrected first scanning track.
With continued reference to fig. 4, the central control device transmits the corrected first scanning trajectory to the motion control device, so that the ultrasound probe continues to scan according to the corrected first scanning trajectory.
Optionally, in the process of controlling the ultrasound probe to scan according to the first scanning track, a central area of the obtained scanned ultrasound image is predetermined, and then whether the three-dimensional coordinate of the carotid artery central line is located in the central area is judged; when the three-dimensional coordinates of the central line of the carotid artery are positioned in the central area, determining that the current position of the ultrasonic probe does not deviate from the actual carotid artery; and when the three-dimensional coordinate of the central line of the carotid artery is determined to be positioned outside the central area, determining that the position of the current ultrasonic probe deviates from the actual carotid artery, and adjusting the pose of the ultrasonic probe.
And determining that the position of the current ultrasonic probe deviates from the actual carotid artery, adjusting the first scanning track, sending the adjusted first scanning track to the motion control equipment again, and continuously and repeatedly controlling the ultrasonic probe to scan until the position of the current ultrasonic probe does not deviate from the actual carotid artery, namely determining that the three-dimensional coordinate of the central line of the carotid artery is located in the central area.
According to the embodiment, the pose and the moving direction of the ultrasonic probe can be controlled according to the first scanning track determined in the figure 3, and the first scanning track determined in the figure 3 is adjusted according to the ultrasound probe pose and the scanning ultrasound image obtained in real time, so that the accuracy of scanning the carotid artery by the ultrasonic probe is improved.
In a flowchart of a carotid artery scanning method shown in another embodiment of the present application, on the basis of the embodiment shown in fig. 3, the method shown in this embodiment further includes:
s41: and detecting whether the real-time acquired ultrasonic image comprises a standard tangent plane or not in the scanning process according to the second scanning track.
The step of detecting whether the real-time acquired ultrasonic image comprises a standard section can be realized by detecting whether the ultrasonic image is clear; and/or detecting whether the blood vessel in the ultrasonic image is straight; and/or detecting whether the upper and lower membranes of the blood vessel in the ultrasonic image are clear and complete or not so as to detect whether the real-time acquired ultrasonic image comprises a standard section or not. When the detected ultrasonic image is clear; and/or, detecting vessel straightness in the ultrasound image; and/or detecting the upper and lower membranes of the blood vessel in the ultrasonic image to be clear and complete, and determining that the ultrasonic image acquired in real time includes a standard tangent plane.
For example, the current scanning ultrasonic image may be binarized to segment a carotid artery image from the binarized scanning ultrasonic image; and then calculating the gradient of the carotid artery image determined by segmentation along the up-down direction so as to determine the upper intima and the lower intima of the carotid artery image by segmentation, and calculating whether a real-time acquired ultrasonic image comprises a standard tangent plane according to the upper intima and the lower intima. Referring to fig. 5, a schematic diagram of a possible standard section of the carotid artery is shown.
And judging the standard tangent plane, and also can be according to a pre-trained neural network model. The neural network model is formed by training a large number of sample training models and can judge whether a carotid artery image in an input scanning ultrasonic image is a standard tangent plane or not.
S42: if not, searching a standard tangent plane by adjusting the pose and/or pressure of the ultrasonic probe according to a standard tangent plane searching algorithm, and storing a standard tangent plane image.
Fig. 6 shows a flow chart of the ultrasound probe scanning system shown in fig. 2, when the ultrasound probe is controlled to scan according to the second scanning track.
And the central control equipment sends a second scanning track to the motion control equipment, and the motion control equipment controls the motion of the motion tail end according to the second scanning track, so that the ultrasonic equipment scans the longitudinal section of the carotid artery according to the second scanning track. The central control equipment acquires the motion end pose fed back by the motion control equipment and a real-time ultrasonic image acquired by the ultrasonic equipment in real time. And judging whether the longitudinal section is standard or not according to the pose of the motion end and the real-time ultrasonic image.
And when the central control equipment determines that the actual longitudinal section of the carotid artery is not standard, adjusting a second scanning track, sending the adjusted second scanning track to the motion control equipment again, continuously and repeatedly scanning according to the second scanning track until the actual longitudinal section of the carotid artery in the scanned ultrasonic image is determined to be the standard section, and storing the scanned ultrasonic image as the optimal section scanned ultrasonic image.
In the process of adjusting the second scanning track to enable the obtained actual carotid artery longitudinal section to be the standard section, the motion control equipment can control the ultrasonic probe to adjust parameters such as rotation, movement, pressure and the like within a certain range. Parameters can also be adjusted in real time by training the neural network.
According to the embodiment, a second scanning track is formed through planning according to the three-dimensional space position obtained in the process of scanning the first scanning track of the carotid artery, and longitudinal section scanning is carried out on the carotid artery according to the second scanning track, so that the comprehensiveness and the accuracy of ultrasonic scanning are improved.
It should be added that, in practical implementation, the first scanning track is a coordinate system of a camera according to carotid artery distribution obtained by shooting, and in practical application, the ultrasound probe needs to be controlled to move according to a motion control device, so in order to implement accurate control of the ultrasound probe, in the above embodiment, during the scanning step of controlling the ultrasound probe according to the first scanning track, further:
s51: converting the first scanning track from a first coordinate system to a second coordinate system, wherein the first coordinate system is a coordinate system corresponding to a shooting device for shooting the three-dimensional scanning image, and the second coordinate system is a coordinate system of a control device for controlling the movement of the ultrasonic probe;
the first scanning track obtained in the above embodiment is based on the first coordinate system T corresponding to the imaging device for imaging the three-dimensional scanning image. But the motion control device is involved in the process of controlling the ultrasonic probe to scan according to the first scanning track, the ultrasonic probe is arranged at the tail end of the motion control device, and the motion control device is used for controlling the ultrasonic probe to scan.
In practical implementation, the conversion from the first coordinate system to the second coordinate system can be obtained by hand-eye calibration. Optionally, the hand-eye calibration process is as follows:
a: pose of the motion tip under the base coordinate system of the motion control device (known as the kinematics positive solution of the robot).
X: and (3) the pose of the 3D camera under the motion terminal coordinate system (unknown and needing to be solved).
C: the pose relationship of the calibration plate with respect to the 3D camera, i.e. the camera's external parameters (known as the center coordinates of the purpose-built calibration plate are identified by the camera).
Under the condition that the calibration plate and the motion control device base are not moved, the posture of the calibration plate relative to the motion control device is fixed to be A X C.
Controlling the ultrasonic probe to move to two different positions, then:
A1*X*C1=A2*X*C2
and (3) transformation:
(A2)-1*A1*X=X*C2*(C1)-1
the method is simplified as follows:
AX=XB
after recording multiple sets (not less than 9 sets) of measurement data, the equation can be solved by methods such as Tsai, Park, Horaud, Andreff, Andilidis and the like to obtain X, and a conversion matrix from a camera coordinate system to a base coordinate system can be obtained as A X C.
If the motion control device controls the motion end based on a coordinate system other than the first coordinate system T, before the central control device sends the first scanning track determined by the above embodiments to the motion control device, the first scanning track needs to be subjected to coordinate transformation, so that the coordinates of the first scanning track are converted from the first coordinate system T to the other coordinate systems.
Exemplarily, referring to fig. 7, a schematic diagram of a motion control device with a 3D camera mounted at the motion end is shown. As can be seen in fig. 7, the motion control apparatus 410 is a multi-axis cascading robot arm including a base end 411 and a motion tip 412, and a 3D camera 510 is mounted at the motion tip 412 of the motion control apparatus 410. The motion of the moving tip 412 is controlled by the motion control device 410 to perform tasks such as 3D image acquisition or to have an ultrasound probe mounted on the moving tip 412 to perform ultrasound scanning tasks. A motion end coordinate system E having an origin at a motion end 412 of the motion control device 410 and a second coordinate system B having an origin at a base end 411 of the motion control device 410 are created on the motion control device 410.
The first coordinate system T is the coordinate system of the device installed at the position of the motion end 412, and the motion control device 410 controls the motion end 412 based on the second coordinate system B, and before the central control device sends the first scanning track determined in fig. 3 to the motion control device 410, the coordinate system transformation is needed to convert the first coordinate system T into the second coordinate system B according to the transformation matrix.
S51: and controlling the ultrasonic probe to scan according to the converted first scanning track in the second coordinate system.
The present application also provides a computer readable storage medium having stored therein at least one instruction or program, the instruction or program being loaded and executed by a processor to implement the carotid scanning method as shown in any of figures 1 to 6.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications of this invention are intended to be covered by the scope of the invention as expressed herein.
Claims (10)
1. A carotid scanning method, characterized in that it comprises the following steps:
acquiring a three-dimensional scanning image of a target site, wherein the target site comprises a carotid artery;
determining carotid artery distribution according to the three-dimensional scanning image;
generating a first scanning track of a cross section of the carotid artery according to the carotid artery distribution;
controlling an ultrasonic probe to scan according to the first scanning track, and determining the three-dimensional space position of the carotid artery in the scanning process;
and determining a second scanning track of the longitudinal section of the carotid artery according to the three-dimensional space position, and scanning the carotid artery according to the second scanning track.
2. The carotid scanning method of claim 1, wherein the step of determining carotid distribution from the three-dimensional scan image comprises:
carrying out three-dimensional modeling on the target part according to the three-dimensional scanning image;
determining a carotid artery region of the carotid artery according to a three-dimensional modeling result;
identifying the position of a preset part in the carotid artery region, and determining the distribution of the carotid artery according to the identified position, wherein the preset part comprises at least one of a neck boundary, a chin and a clavicle.
3. The carotid artery scanning method of claim 2, wherein the step of generating a first scanning trajectory of a cross-section of the carotid artery from the carotid artery distribution comprises:
determining the projection positions of the carotid artery distribution in the three-dimensional modeling result;
sampling the determined projection position to obtain a sampling position;
determining the pose of the ultrasonic probe at each sampling position along a preset moving direction;
and generating the first scanning track according to the pose of each sampling position and the preset moving direction.
4. The carotid scanning method of claim 1, wherein the method further comprises:
in the process of controlling the ultrasonic probe to scan according to the first scanning track, detecting whether the carotid artery is in the central area of an ultrasonic image obtained by scanning;
if not, the first scanning track is corrected according to the ultrasonic image, and scanning is continued according to the corrected first scanning track.
5. The carotid artery scanning method of claim 1, wherein determining the three-dimensional spatial location of the carotid artery during scanning comprises:
recording the pose of the ultrasonic probe and the acquired ultrasonic image in real time in the scanning process;
identifying coordinates of the carotid artery in the ultrasound image in real time;
and determining the three-dimensional space position of the carotid artery according to the identified coordinates and the pose of the ultrasonic probe.
6. The carotid scanning method of claim 1, wherein the method further comprises:
detecting whether the real-time acquired ultrasonic image comprises a standard tangent plane or not in the scanning process according to the second scanning track;
if not, searching a standard tangent plane by adjusting the pose and/or pressure of the ultrasonic probe according to a standard tangent plane searching algorithm, and storing a standard tangent plane image.
7. The carotid artery scanning method of claim 6, wherein said detecting whether a standard slice is included in the real-time acquired ultrasound images comprises:
detecting whether the ultrasonic image is clear;
and/or the presence of a gas in the gas,
detecting whether a blood vessel in the ultrasonic image is straight;
and/or the presence of a gas in the gas,
and detecting whether the upper and lower membranes of the blood vessel in the ultrasonic image are clear and complete.
8. The carotid artery scanning method according to any one of claims 1 to 7, wherein said controlling an ultrasound probe to scan according to said first scanning trajectory comprises:
converting the first scanning track from a first coordinate system to a second coordinate system, wherein the first coordinate system is a coordinate system corresponding to a shooting device for shooting the three-dimensional scanning image, and the second coordinate system is a coordinate system of a control device for controlling the movement of the ultrasonic probe;
and controlling the ultrasonic probe to scan according to the converted first scanning track in the second coordinate system.
9. A carotid scanning device, characterized in that said device is used to perform the carotid scanning method of any of claims 1 to 7.
10. A computer readable storage medium having stored therein at least one instruction or program, the instruction or program being loaded and executed by a processor to implement a carotid scanning method as claimed in any of claims 1 to 7.
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