CN114176628A - Coupling agent smearing method of ultrasonic scanning equipment - Google Patents
Coupling agent smearing method of ultrasonic scanning equipment Download PDFInfo
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- 238000002604 ultrasonography Methods 0.000 claims description 7
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- A61B8/42—Details of probe positioning or probe attachment to the patient
- A61B8/4272—Details of probe positioning or probe attachment to the patient involving the acoustic interface between the transducer and the tissue
- A61B8/4281—Details of probe positioning or probe attachment to the patient involving the acoustic interface between the transducer and the tissue characterised by sound-transmitting media or devices for coupling the transducer to the tissue
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- A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
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Abstract
The invention relates to the technical field of ultrasonic scanning equipment, in particular to a couplant smearing method of ultrasonic scanning equipment, which comprises the following steps: s1: rotating the scanning probe to enable the ultrasonic window to point upwards, and then acquiring a first image; s2: smearing a coupling agent, and then acquiring a second image; s3: judging whether the area not coated with the coupling agent meets the preset requirement or not; if not, erasing the coupling agent, and then returning to S1; if yes, go to S4; s4: judging whether the thickness of the couplant is enough or not according to the first image and the second image; if so, exiting; if not, the couplant is erased, and then the process returns to S1. Has the advantages that: by setting the specific couplant smearing method, the defect that the existing couplant smearing device cannot adapt to automatic scanning equipment well is overcome, automatic detection of the smearing area and the smearing thickness of the couplant is achieved, the manual intervention process in the couplant smearing process is reduced, the efficiency of the whole scanning process is improved, and scanning experience is effectively improved.
Description
Technical Field
The invention relates to the technical field of ultrasonic scanning equipment, in particular to a couplant smearing method of ultrasonic scanning equipment.
Background
Ultrasonic scanning equipment is equipment for displaying the reflection and weakening rules of various organs and tissues in a human body to ultrasonic waves through an oscillographic screen to image when the waves generated by ultrasonic waves are transmitted in the human body, and is widely applied to the field of medical treatment and used for carrying out in-vitro examination on the tissues and the organs of a patient to realize better diagnosis and treatment effects. Generally, an ultrasound scanning apparatus employs a transducer as a transmission source of ultrasonic waves. The whole scanning process is completed by inputting ultrasonic waves generated by a transducer into a patient body, receiving echoes reflected by tissues and organs and imaging. Because the ultrasonic wave that the transducer produced is a mechanical wave, its propagation path and echo receive the medium influence great, consequently carry out the ultrasonic wave and sweep the in-process of looking into, need carry out good contact with transducer and patient's body surface to avoid the cavity environment can't effectively transmit the ultrasonic wave, and then influence the imaging. Generally, when a patient is examined using an ultrasound scanning apparatus, a couplant is applied as a medium between a transducer and the surface of the patient's body to achieve good contact.
In the prior art, in order to facilitate smearing the couplant on the scanning probe in the using process, a specific mechanical structure or a specific device is often adopted to automatically smear the couplant on the scanning probe. For example, CN201910460759.0 discloses a B-ultrasonic testing apparatus with a couplant supply device, or CN202010265696.6 discloses a technical solution for arranging a couplant smearing head on an ultrasonic probe. The application scenarios of the two technical schemes are traditional manual scanning processes, specific optimization is not carried out on automatic scanning equipment, and the automatic scanning scenarios cannot be well adapted. Meanwhile, the two technical schemes do not pay attention to the coating quantity and the coating area of the couplant on the scanning probe, so that the problems of insufficient coating, excessive coating or incomplete covering of the acoustic window by the couplant are caused.
Disclosure of Invention
Aiming at the problems in the prior art, a couplant smearing method for ultrasonic scanning equipment is provided.
The specific technical scheme is as follows:
a couplant smearing method of ultrasonic scanning equipment comprises the following steps:
step S1: rotating the scanning probe to enable an ultrasonic window of the scanning probe to point upwards, and then acquiring a first image;
step S2: smearing the couplant on the ultrasonic window, and then acquiring a second image;
step S3: judging whether the area not coated with the coupling agent meets a preset requirement or not according to the first image and the second image;
if not, erasing the couplant on the ultrasonic window, and then returning to the step S1;
if yes, go to step S4;
step S4: judging whether the thickness of the couplant is enough or not according to the first image and the second image;
if so, indicating that the couplant is completely coated and quitting;
if not, the couplant on the ultrasonic window is erased, and then the step S1 is returned to.
Preferably, in the step S2, after the couplant is smeared on the ultrasound window, a verification process is performed first, and it is determined whether to acquire the second image according to the determination process;
the verification process specifically includes:
step S21: after the couplant is coated, moving the scanning probe along the horizontal direction within a preset acquisition time period, and acquiring multiple frames of continuous images within the acquisition time period;
step S22: judging whether the acquired image is a real image or not according to the multi-frame continuous image;
if so, acquiring the second image and then turning to the step S3;
if not, the couplant on the ultrasonic window is erased, and then the step S1 is returned to.
Preferably, the step S22 includes:
step S221: selecting a first comparison image and a second comparison image from the plurality of continuous images;
the time interval between the first comparison image and the second comparison image is two frames;
step S222: calculating a horizontal displacement value of the scanning probe according to the first comparison image and the second comparison image;
step S223: returning to the step S231, repeatedly acquiring a plurality of horizontal displacement values until the number of the horizontal displacement values reaches a preset acquisition number, and then turning to step S224;
step S224: generating a total displacement value according to the plurality of horizontal displacement values, and judging whether the total displacement value is greater than a displacement threshold value;
if yes, judging that the acquired image is a real image, acquiring the second image, and turning to the step S3;
if not, judging that the acquired image is not a real image, erasing the couplant on the ultrasonic window, and then returning to the step S1.
Preferably, the step S3 includes:
step S31: registering the first image and the second image;
step S32: performing region segmentation on the registered first image and the second image to generate a plurality of corresponding first region images in the first image and second region images in the second image;
step S33: carrying out similarity calculation and relative displacement value calculation on the first region and the second region, and judging whether a preset condition is met;
if so, adding one to the numerical value of the similarity count result, and then turning to step S34;
if not, go to step S34;
step S34: judging whether similarity calculation is carried out on all the first regions and all the second regions or not;
if yes, go to step S35;
if not, returning to the step S33;
step S35: judging whether the area of the area not coated with the coupling agent meets the preset requirement or not according to the similarity counting result;
if not, erasing the couplant on the ultrasonic window, and then returning to the step S1; if yes, the process goes to step S4.
Preferably, the step S33 includes:
step S331: selecting the corresponding first area and the second area by adopting a template matching method;
step S332: calculating the similarity of the first region and the second region, and calculating the relative displacement value of the first region and the second region;
step S333: judging whether the similarity and the relative displacement value of the first area and the second area simultaneously meet the preset condition;
if so, adding one to the numerical value of the similarity count result, and then going to the step S34;
if not, the process goes to step S34.
Preferably, the step S4 includes:
step S41: generating an upper limit thickness and a lower limit thickness according to a scanning path input in advance;
step S42: judging whether the thickness of the couplant is sufficient or not according to the first image, the second image, the upper limit thickness and the lower limit thickness;
if so, indicating that the couplant is completely coated and quitting;
if not, the couplant on the ultrasonic window is erased, and then the step S1 is returned to.
Preferably, the step S41 includes:
step S411: generating path length according to a scanning path input in advance;
step S412: generating the upper and lower thicknesses from the path length.
Preferably, the step S42 further includes:
step S421: generating a first coordinate mean value according to the first image, and generating a second coordinate mean value according to the second image;
step S422: generating a current thickness according to the first coordinate mean value and the second coordinate mean value;
step S423: judging whether the current thickness is between the upper limit thickness and the lower limit thickness;
if so, considering the thickness of the couplant to be enough, indicating that the couplant is completely coated, and withdrawing;
if not, the thickness of the couplant is considered to be insufficient, the couplant on the ultrasonic window is erased, and then the step S1 is returned to.
Preferably, the ultrasonic scanning device comprises a scanning probe, a mechanical arm and a smearing device;
the scanning probe is arranged at the front end of the mechanical arm;
the smearing device is used for smearing the couplant on the ultrasonic window.
Preferably, the moving of the scanning probe in step S22 is performed by: and the mechanical arm controls the scanning probe to do simple harmonic motion along a straight line on the horizontal plane.
The technical scheme has the following advantages or beneficial effects: by setting the specific couplant smearing method, the defect that the existing couplant smearing device cannot adapt to automatic scanning equipment well is overcome, automatic detection of the smearing area and the smearing thickness of the couplant is achieved, the manual intervention process in the couplant smearing process is reduced, the efficiency of the whole scanning process is improved, and scanning experience is effectively improved.
Drawings
Embodiments of the present invention will now be described more fully hereinafter with reference to the accompanying drawings. The drawings are, however, to be regarded as illustrative and explanatory only and are not restrictive of the scope of the invention.
FIG. 1 is an overall flow chart of the present invention;
FIG. 2 is a diagram illustrating a first image according to an embodiment of the present invention;
FIG. 3A is a diagram illustrating a second image according to an embodiment of the present invention;
FIG. 3B is a schematic diagram of another second image according to the embodiment of the present invention;
FIG. 3C is a schematic diagram of another second image according to an embodiment of the present invention;
FIG. 4 is a diagram illustrating the substep of step S2 according to an embodiment of the present invention;
FIG. 5 is a diagram illustrating the substep of step S23 according to an embodiment of the present invention;
FIG. 6 is a diagram illustrating the substep of step S3 according to an embodiment of the present invention;
FIG. 7 is a diagram illustrating the substep of step S33 according to an embodiment of the present invention;
FIG. 8 is a diagram illustrating the substep of step S4 according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of the substep of step S41 in the embodiment of the present invention
FIG. 10 is a diagram illustrating the substep of step S42 in accordance with an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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 invention.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.
The invention comprises the following steps:
a method for applying a coupling agent to an ultrasonic scanning device, as shown in fig. 1, includes:
step S1: rotating the scanning probe to enable an ultrasonic window of the scanning probe to point upwards, and then acquiring a first image;
step S2: smearing a couplant on an ultrasonic window, and then acquiring a second image;
step S3: judging whether the area which is not coated with the coupling agent meets the preset requirement or not according to the first image and the second image;
if not, erasing the coupling agent on the ultrasonic window, and then returning to the step S1;
if yes, go to step S4;
step S4: judging whether the thickness of the couplant is enough or not according to the first image and the second image;
if so, indicating that the couplant is completely coated and withdrawing;
if not, the couplant on the ultrasonic window is erased, and then the process returns to step S1.
Specifically, in order to achieve better adaptability to automatic scanning equipment and combined scanning scenes, the invention provides a coupling agent smearing method which is used for smearing a coupling agent with a proper thickness on a transmitting window of a scanning probe in advance before scanning starts and is used for solving the problem that the coupling agent is difficult to smear due to different scanning parts and different body shapes of patients when the automatic scanning equipment scans different parts of the patients. Meanwhile, through ultrasonic image detection, the problems of uneven smearing, incomplete coverage of an emission window or insufficient thickness of the couplant during smearing can be effectively solved, and the problem that the couplant is smeared again due to interruption of a scanning process during scanning is further avoided.
Further, in a specific implementation process, the scanning probe and the mechanical arm can adopt the prior art. The coating device is set as a mechanical arm with a couplant coating device at the front end, the mechanical arm can uniformly coat the couplant on the emission window at a specific angle, the output quantity of the couplant in a single coating process is controlled, and the coating thickness of the couplant is changed.
Further, the first image is shown in fig. 2, which is an initial wave image of the ultrasound scanning apparatus without contacting any solid medium or applying a coupling agent, and the scanning probe is usually removed from the body surface of the patient and is not in contact with an external object to obtain the image. To facilitate application of the couplant, the scanning probe may be directed upward while the first image is acquired to facilitate subsequent application of the couplant by the application device. As shown in fig. 3A, 3B, and 3C, when the emission window is coated with the couplant, the collected second image reflects an image of the couplant, and the thickness of the couplant can be determined according to the color depth. Note that, in the second image shown in fig. 3A, most of the area is not smeared with the couplant; in the second image shown in fig. 3B, the left side is not coated with the couplant; in the second image shown in fig. 3C, the central region of the emission window is not smeared with the coupling agent. The three situations are all the situations that the couplant is not coated possibly in the actual use process, and at the moment, the couplant needs to be further judged according to the coating method provided by the invention to eliminate the problem, so that a better couplant coating effect is obtained to enable the scanning process to be continued.
As an alternative, the preset requirement is that the ratio of the area without the couplant applied in the whole image is smaller than a preset upper limit ratio of the area without the couplant applied.
In a preferred embodiment, in step S2, after the couplant is applied to the ultrasound window, a verification process is performed first, and it is determined whether to continue to acquire the second image according to the determination process;
as shown in fig. 2, the verification process specifically includes:
step S21: after the couplant is coated, moving the scanning probe along the horizontal direction within a preset acquisition time period, and acquiring multiple frames of continuous images within the acquisition time period;
step S22: judging whether the acquired image is a real image or not according to the multi-frame continuous image;
if so, acquiring a second image and then turning to step S3;
if not, the couplant on the ultrasonic window is erased, and then the process returns to step S1.
Specifically, by acquiring a current image and comparing the first image shown in fig. 2 with the current image when the couplant is smeared, whether the currently acquired image is a real image can be judged, and thus, invalid operation caused by scanning probe faults is avoided.
In a preferred embodiment, as shown in fig. 5, step S22 includes:
step S221: selecting a first comparison image and a second comparison image from a plurality of continuous images;
the time interval between the first comparison image and the second comparison image is two frames;
step S222: calculating a horizontal displacement value of the scanning probe according to the first comparison image and the second comparison image;
step S223: returning to step S231, repeatedly acquiring a plurality of horizontal displacement values until the number of horizontal displacement values reaches a preset acquisition number, and then turning to step S224;
step S224: generating a total displacement value according to the plurality of horizontal displacement values, and judging whether the total displacement value is greater than a displacement threshold value;
if yes, the acquired image is judged to be a real image, a second image is acquired, and then the step S3 is switched to;
if not, judging that the acquired image is not a real image, erasing the coupling agent on the ultrasonic window, and then returning to the step S1.
Specifically, to determine whether the current image is a real image, the displacement of the specific region in the horizontal direction may be calculated in a horizontal movement manner after the couplant is applied, and if it can be determined that the horizontal displacement is greater than the displacement threshold value according to the current image, the currently acquired image may be considered as an effective image, so as to avoid an invalid operation.
Further, taking the second image shown in fig. 3A as an example, two second images with a time interval of 2 frames are acquired, the lower half portion of the second image is divided into ten parts along the horizontal direction, then, the template matching method is adopted to obtain the mutually matched regions in the two images, and the displacement of the current scanning probe in the horizontal direction is further determined according to the movement of the mutually matched regions in the horizontal direction. Since the template matching method is prior art, it is not described herein in detail.
In order to realize better identification effect, the single horizontal displacement is recorded as shiftiThen, there are:
wherein shiftsumA total displacement value representing a plurality of horizontal displacements,i is the number of displacements, and the maximum value of i in this embodiment is 9. When shiftsum>thre, which is the displacement threshold, is considered to have occurred, and in this example is 1.5mm by 8. The problem that the judgment is influenced by the fact that the actual displacement distance changes in the same time interval caused by acceleration and deceleration of the mechanical arm in the horizontal moving process can be solved by collecting multiple horizontal displacements.
As an optional implementation manner, the position when the first image is acquired is recorded as a start position, and when the acquired image is judged to be a real image, the scanning probe is moved to the start position and the second image is acquired.
In a preferred embodiment, as shown in fig. 6, step S3 includes:
step S31: registering the first image and the second image;
step S32: performing region segmentation on the registered first image and the second image to generate a first region image in the first image and a second region image in the second image which correspond to each other;
step S33: similarity calculation and relative displacement value calculation are carried out on the first area and the second area, and whether a preset condition is met or not is judged;
if so, adding one to the numerical value of the similarity count result, and then turning to step S34;
if not, go to step S34;
step S34: judging whether similarity calculation is carried out on all the first areas and all the second areas or not;
if yes, go to step S35;
if not, returning to the step S33;
step S35: judging whether the area which is not coated with the coupling agent meets the preset requirement or not according to the similarity counting result;
if not, erasing the coupling agent on the ultrasonic window, and then returning to the step S1; if yes, the process goes to step S4.
In particular, since the scanning probe moves in the horizontal direction during the process of generating the second image, the matching degree of the first image and the second image needs to be improved by means of registration. Since the method of registration is common knowledge in the art, it is not elaborated here. By carrying out region segmentation on the first image and the second image and calculating the similarity, the number of each region which is not coated with the couplant in the images can be counted, and whether the emission window is completely covered by the couplant or whether the uncovered region is too much to cause the situations shown in fig. 3A, 3B and 3C to occur is judged according to the counting result, so that the scanning process cannot be normally carried out.
Further, in order to solve the problem that it is difficult to identify the area where the coupling agent is not applied in the prior art, the area dividing method adopted in this embodiment divides the ultrasound image into a plurality of areas having the same area, and obtains the occupation ratio of the area where the coupling agent is not applied in the whole image by recording the number of the areas where the coupling agent is not applied and combining the number of the whole divided areas. And, a more accurate determination result can be obtained by increasing the number of divided regions.
As an alternative embodiment, the area dividing method is to divide the first image or the second image into a plurality of areas along the x axis and the y axis, and the areas of the plurality of areas are equal.
As an alternative embodiment, the number of the regions is 20, and the preset length value is 5.
In a preferred embodiment, as shown in fig. 7, step S33 includes:
step S331: selecting a corresponding first area and a corresponding second area by adopting a template matching method;
step S332: calculating the similarity between the first region and the second region, and calculating the relative displacement value of the first region and the second region;
step S333: judging whether the similarity and the relative displacement value of the first area and the second area simultaneously meet preset conditions;
if so, adding one to the numerical value of the similarity count result, and then turning to step S34;
if not, the process goes to step S34.
Specifically, since the scanning probe moves in the horizontal direction during the process of generating the second image, when the second region is acquired, the pixel range of the second region is defaulted to be translated in the x-axis or y-axis direction, and therefore the second region with a changed position can be effectively matched by using the template matching method. The method for calculating the similarity value is the prior art, and may be implemented by using OpenCV as a similarity calculation tool, or other methods. The calculation method of the relative displacement value may be generated from the result in the template matching process.
As an alternative embodiment, the preset conditions of step S333 are: | Δ x | + | Δ y | < disthre and k > imgthre.
Wherein Δ x is a displacement value of the second region relative to the first region on the x-axis, Δ y is a displacement value of the second region relative to the first region on the y-axis, and disthre is a preset relative displacement limit value; k is the similarity value and imgthre is the similarity limit. When the above preset condition is satisfied, it indicates that the first region and the second region are similar, i.e., the region is not coated with the coupling agent.
As an alternative embodiment, the relative displacement limit is 1mm and the similarity limit is 0.96.
In a preferred embodiment, as shown in fig. 8, step S4 includes:
step S41: generating an upper limit thickness and a lower limit thickness according to a scanning path input in advance;
step S42: judging whether the thickness of the couplant is enough or not according to the first image, the second image, the upper limit thickness and the lower limit thickness;
if so, indicating that the couplant is completely coated and withdrawing;
if not, the couplant on the ultrasonic window is erased, and then the process returns to step S1.
In a preferred embodiment, as shown in fig. 9, step S41 includes:
step S411: generating path length according to the scanned path;
step S412: an upper limit thickness and a lower limit thickness are generated from the path length.
Specifically, the lower limit thickness y in step A42aAnd an upper limit thickness ybMethod for generatingThe following were used: y isa＝0.01x2-0.03x+1.5；yb＝0.015x2-0.02x+2。
Wherein, yaIs a lower limit of thickness, ybAnd x is the path length which is obtained from a preset scanning path table according to the selected scanning path.
As an optional implementation, an upper thickness threshold is preset to avoid the couplant falling off from the surface of the emission window. In one embodiment, the upper thickness threshold is 12 cm.
In a preferred embodiment, as shown in fig. 10, step S42 further includes:
step S421: generating a first coordinate mean value according to the first image, and generating a second coordinate mean value according to the second image;
step S422: generating the current thickness according to the first coordinate mean value and the second coordinate mean value;
step S423: judging whether the current thickness is between the upper limit thickness and the lower limit thickness;
if so, considering the thickness of the coupling agent to be enough, indicating that the coating of the coupling agent is finished, and withdrawing;
if not, the thickness of the couplant is considered to be insufficient, the couplant on the ultrasonic window is erased, and then the step S1 is returned to.
Specifically, the method for generating the first coordinate mean value includes: acquiring a y-axis coordinate of a first point larger than blackthre in each column from the first image, and generating a first coordinate mean value according to the y-axis coordinates in the plurality of first images; the generation method of the second coordinate mean value comprises the following steps: and acquiring the y-axis coordinate of the second point which is larger than blackthre in each second column from the second image, and generating a second coordinate mean value according to the y-axis coordinates in the plurality of second images. And calculating the thickness of the coupling agent according to the first coordinate mean value and the second coordinate mean value.
In a preferred embodiment, the ultrasonic scanning device comprises a scanning probe, a mechanical arm and a smearing device;
the scanning probe is arranged at the front end of the mechanical arm;
the smearing device is used for smearing the couplant on the ultrasonic window.
In a preferred embodiment, the scanning probe is moved in step S22 by: the mechanical arm controls the scanning probe to do simple harmonic motion along a straight line on the horizontal plane.
In one embodiment, the length of the straight line is 10mm and the frequency of the simple harmonic motion is 10 Hz.
The invention has the beneficial effects that: by setting the specific couplant smearing method, the defect that the existing couplant smearing device cannot adapt to automatic scanning equipment well is overcome, automatic detection of the smearing area and the smearing thickness of the couplant is achieved, the manual intervention process in the couplant smearing process is reduced, the efficiency of the whole scanning process is improved, and scanning experience is effectively improved.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.
Claims (10)
1. A couplant smearing method of ultrasonic scanning equipment is characterized by comprising the following steps:
step S1: rotating the scanning probe to enable an ultrasonic window of the scanning probe to point upwards, and then acquiring a first image;
step S2: smearing the couplant on the ultrasonic window, and then acquiring a second image;
step S3: judging whether the area not coated with the coupling agent meets a preset requirement or not according to the first image and the second image;
if not, erasing the couplant on the ultrasonic window, and then returning to the step S1;
if yes, go to step S4;
step S4: judging whether the thickness of the couplant is enough or not according to the first image and the second image;
if so, indicating that the couplant is completely coated and quitting;
if not, the couplant on the ultrasonic window is erased, and then the step S1 is returned to.
2. The couplant application method according to claim 1, wherein in step S2, after the couplant is applied to the ultrasound window, a verification process is performed first, and it is determined whether the second image is acquired according to the determination process;
the verification process specifically includes:
step S21: after the couplant is coated, moving the scanning probe along the horizontal direction within a preset acquisition time period, and acquiring multiple frames of continuous images within the acquisition time period;
step S22: judging whether the acquired image is a real image or not according to the multi-frame continuous image;
if so, acquiring the second image and then turning to the step S3;
if not, the couplant on the ultrasonic window is erased, and then the step S1 is returned to.
3. The couplant application method according to claim 2, wherein the step S22 comprises:
step S221: selecting a first comparison image and a second comparison image from the plurality of continuous images;
the time interval between the first comparison image and the second comparison image is two frames;
step S222: calculating a horizontal displacement value of the scanning probe according to the first comparison image and the second comparison image;
step S223: returning to the step S231, repeatedly acquiring a plurality of horizontal displacement values until the number of the horizontal displacement values reaches a preset acquisition number, and then turning to step S224;
step S224: generating a total displacement value according to the plurality of horizontal displacement values, and judging whether the total displacement value is greater than a displacement threshold value;
if yes, judging that the acquired image is a real image, acquiring the second image, and turning to the step S3;
if not, judging that the acquired image is not a real image, erasing the couplant on the ultrasonic window, and then returning to the step S1.
4. The couplant application method according to claim 1, wherein the step S3 comprises:
step S31: registering the first image and the second image;
step S32: performing region segmentation on the registered first image and the second image to generate a plurality of corresponding first region images in the first image and second region images in the second image;
step S33: carrying out similarity calculation and relative displacement value calculation on the first region and the second region, and judging whether a preset condition is met;
if so, adding one to the numerical value of the similarity count result, and then turning to step S34;
if not, go to step S34;
step S34: judging whether similarity calculation is carried out on all the first regions and all the second regions or not;
if yes, go to step S35;
if not, returning to the step S33;
step S35: judging whether the area not coated with the coupling agent meets the preset requirement or not according to the similarity counting result;
if not, erasing the couplant on the ultrasonic window, and then returning to the step S1; if yes, the process goes to step S4.
5. The couplant application method according to claim 4, wherein the step S33 comprises:
step S331: selecting the corresponding first area and the second area by adopting a template matching method;
step S332: calculating the similarity of the first region and the second region, and calculating the relative displacement value of the first region and the second region;
step S333: judging whether the similarity and the relative displacement value of the first area and the second area simultaneously meet the preset condition;
if so, adding one to the numerical value of the similarity count result, and then going to the step S34;
if not, the process goes to step S34.
6. The couplant application method according to claim 1, wherein the step S4 comprises:
step S41: generating an upper limit thickness and a lower limit thickness according to a scanning path input in advance;
step S42: judging whether the thickness of the couplant is sufficient or not according to the first image, the second image, the upper limit thickness and the lower limit thickness;
if so, indicating that the couplant is completely coated and quitting;
if not, the couplant on the ultrasonic window is erased, and then the step S1 is returned to.
7. The couplant application method according to claim 6, wherein the step S41 comprises:
step S411: generating path length according to the scanning path;
step S412: generating the upper and lower thicknesses from the path length.
8. The couplant application method according to claim 6, wherein the step S42 further comprises:
step S421: generating a first coordinate mean value according to the first image, and generating a second coordinate mean value according to the second image;
step S422: generating a current thickness according to the first coordinate mean value and the second coordinate mean value;
step S423: judging whether the current thickness is between the upper limit thickness and the lower limit thickness;
if so, considering the thickness of the couplant to be enough, indicating that the couplant is completely coated, and withdrawing;
if not, the thickness of the couplant is considered to be insufficient, the couplant on the ultrasonic window is erased, and then the step S1 is returned to.
9. The couplant application method according to claim 2, wherein the ultrasonic scanning device comprises a scanning probe, a mechanical arm and an application device;
the scanning probe is arranged at the front end of the mechanical arm;
the smearing device is used for smearing the couplant on the ultrasonic window.
10. The couplant application method according to claim 9, wherein the scanning probe is moved in step S22 in such a manner that: and the mechanical arm controls the scanning probe to do simple harmonic motion along a straight line on the horizontal plane.
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