CN115429327A - Thyroid full-automatic ultrasonic intelligent scanning method and platform - Google Patents
Thyroid full-automatic ultrasonic intelligent scanning method and platform Download PDFInfo
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- CN115429327A CN115429327A CN202211017033.8A CN202211017033A CN115429327A CN 115429327 A CN115429327 A CN 115429327A CN 202211017033 A CN202211017033 A CN 202211017033A CN 115429327 A CN115429327 A CN 115429327A
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
- A61B8/0833—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures
- A61B8/085—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures for locating body or organic structures, e.g. tumours, calculi, blood vessels, nodules
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- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/42—Details of probe positioning or probe attachment to the patient
- A61B8/4209—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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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/52—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/5215—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data
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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
- A61B8/52—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/5215—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data
- A61B8/5223—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data for extracting a diagnostic or physiological parameter from medical diagnostic data
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Abstract
According to the thyroid full-automatic ultrasonic intelligent scanning method and platform provided by the invention, one surface of an intelligent skin laminating device is laminated on skin, the other surface of the intelligent skin laminating device is coupled and laminated with a probe, the probe is connected to an ultrasonic instrument through an automatic scanning mechanical arm, and the intelligent scanning and report outputting can be rapidly and automatically realized through automatic neck positioning, standard scanning track control, full-automatic image segmentation and three-dimensional reconstruction, intelligent evaluation and automatic report generation and doctor modification and approval, so that the time of a patient and a doctor is saved. The invention has no radioactive rays or toxic and harmful substances, is extremely safe for patients, can be repeatedly applied, is suitable for long-term tracking, has high stability for scanning thyroid nodules and cervical lymph nodes, and is not influenced by the states of the patients and the levels of different doctors. The invention can accurately position, can carry out three-dimensional reconstruction, provides a clinician, particularly a surgeon with three-dimensional space positioning of a focus, and easily realizes accurate matching of scanning images of a patient at different times.
Description
Technical Field
The invention belongs to the field of intelligent medical equipment, and particularly relates to a full-automatic ultrasonic intelligent scanning method and platform for thyroid gland.
Background
With the widespread clinical use of conventional ultrasound, thyroid nodules have become more and more common clinically. However, most thyroid nodules are benign, and only less than 10% of the nodules are malignant. Thyroid screening has now been incorporated into routine physical examination, and when thyroid nodules are found, the sonographer needs to provide the clinician with basic imaging data: such as the number, size, location, nature of thyroid nodules, presence or absence of lymph node metastasis, etc., whether it is a follow-up observation or FNA (needle aspiration cytology biopsy) or surgery. In practice, however, it has been found that for many patients, sonographers do not give accurate recommendations. When the same patient scans in different hospitals and different doctors, the examination results are greatly different, which not only brings confusion to the clinicians, but also makes the patients more convenient. Some clinicians have a deviation in their knowledge and uniformly resect a suspected malignant nodule, placing an unnecessary economic and physical burden on the patient.
In clinical medicine, CT, MRI, PET and other imaging means exist, and the resolution of the images to thyroid and neck structures is not enough; and since a large number of benign thyroid nodules require long-term follow-up, while radiation is a factor that induces the appearance or enlargement of the nodules, ultrasound is the first means of long-term follow-up, reducing the economic stress on hospitals and patients.
The ultrasonic detection of thyroid gland produces image data, and in the detection process, due to the individual difference of patients, the results show that the neck has different skin depth on the surface because the neck has different length, thyroid gland size, thyroid cartilage protuberant degree and the like. Ultrasonic testing need with ultrasonic probe just can show deep structure after need laminating skin, and different positions that face different patients or neck show that the definition degree differs. The different scanning directions, angles, and nodule recognition have too high an patience for imaging doctors, which may cause human errors to cause insufficient image display and wrong image display position.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a full-automatic intelligent thyroid gland ultrasonic scanning method. The technical problem to be solved by the invention is realized by the following technical scheme:
in a first aspect, the invention provides a full-automatic intelligent ultrasonic thyroid scanning method, which includes providing an intelligent skin laminating device, an automatic scanning mechanical arm and a probe, wherein one surface of the intelligent skin laminating device is laminated on skin, the other surface of the intelligent skin laminating device is coupled and laminated with the probe, the probe is connected to an ultrasonic instrument through the automatic scanning mechanical arm, and the full-automatic intelligent ultrasonic thyroid scanning method includes:
controlling the probe to move on a binding surface of the intelligent skin binding device, which is bound with the skin, to a middle line through an automatic scanning mechanical arm, and acquiring an initial image;
the intelligent skin fitting device is fitted in the thyroid part area;
setting a positioning mark according to a first biological characteristic which is relatively fixed in the initial image;
controlling the probe to automatically scan the thyroid part area along a preset scanning track by using the positioning mark to obtain a full-automatic image;
automatically segmenting the full-automatic image according to a specified second biological characteristic to obtain segmented images for distinguishing different biological characteristic regions;
the morphology and size of thyroid and thyroid nodules of the segmented images are automatically measured, and a preliminary video report is filled in according to the morphology and size formation evaluation results of the thyroid and thyroid nodules and is provided for a doctor, so that the doctor can review the preliminary video report and freely call one or more of all the video images to decide whether to modify the preliminary video report.
Optionally, the intelligent skin fitting device includes: a skin coupling surface, an intermediate layer and a probe coupling surface;
the skin coupling surface is made of deformable special materials and can be tightly attached to the skin of a patient, and pressure sensors are distributed on the skin coupling surface; the middle layer is made of a material which does not block ultrasonic waves, the probe coupling surface is a fixed plane, and the probe can freely move on the probe coupling surface.
Optionally, the automatic scanning mechanical arm is a mechanical arm that automatically moves and grasps the probe, and the automatic scanning mechanical arm grasps the probe and contacts with the probe coupling surface, and moves in any direction of the probe coupling surface.
Optionally, the first biological characteristics include structural characteristics of blood vessels, muscle and muscle gaps and cartilage, and the second biological characteristics are structural characteristics of glands, nodes, lymph nodes and blood vessels.
Optionally, after the full-automatic image is automatically segmented according to the specified second biological feature to obtain a segmented image for distinguishing different biological feature regions, the method for full-automatic ultrasonic intelligent scanning of a thyroid gland further includes:
and performing three-dimensional reconstruction on the segmented image to form a three-dimensional space image, and performing spatial positioning on the position of the focus on the three-dimensional space image.
Optionally, all the video images include:
the system comprises an initial image, a full-automatic image, a segmentation image and a three-dimensional space image marking the position of a focus.
In a second aspect, the thyroid full-automatic ultrasonic intelligent scanning platform provided by the invention is used for realizing the thyroid full-automatic ultrasonic intelligent scanning method in the first aspect.
The invention has the beneficial effects that:
1. the thyroid full-automatic ultrasonic intelligent scanning method provided by the invention has high stability for scanning thyroid nodules and cervical lymph nodes, and is not influenced by the state of a patient and different doctor levels. The invention can solve the defect that the traditional ultrasound lacks a standardized scanning technique and reduce the problem of high dependence on the operation technique and the diagnosis level of a doctor.
2. The thyroid full-automatic ultrasonic intelligent scanning method provided by the invention has no radioactive rays or toxic and harmful substances, is extremely safe for patients, can be repeatedly applied, and is suitable for long-term tracking.
3. The thyroid full-automatic ultrasonic intelligent scanning method provided by the invention has the advantages that the scanning speed is high, the intelligent skin laminating device can quickly and automatically scan and report after being laminated on the skin of a patient, and the time of the patient and a doctor is saved.
4. The thyroid full-automatic ultrasonic intelligent scanning method provided by the invention can be used for accurately positioning and three-dimensional reconstruction, provides stereoscopic space positioning of a focus for clinicians, particularly surgeons, and easily realizes accurate matching of scanned images of patients at different times.
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Drawings
FIG. 1 is a schematic structural diagram of an intelligent skin patch device provided by an embodiment of the invention;
FIG. 2 is a schematic diagram of a skin coupling surface of an intelligent skin patch device according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating the smart adjustment of the skin-coupling surface after contacting the neck skin of the patient according to an embodiment of the present invention;
fig. 4 is a schematic flow diagram of a thyroid full-automatic ultrasonic intelligent scanning method of the present invention.
Detailed Description
The present invention will be described in further detail with reference to specific examples, but the embodiments of the present invention are not limited thereto.
The invention provides a full-automatic ultrasonic intelligent thyroid scanning method, which comprises an intelligent skin laminating device, an automatic scanning mechanical arm and a probe, and refers to fig. 1, wherein fig. 1 is a schematic structural diagram of the intelligent skin laminating device. One side of the intelligent skin laminating device is laminated on the skin, the other side of the intelligent skin laminating device is coupled and laminated with the probe, and the probe is connected to the ultrasonic instrument through the automatic scanning mechanical arm. Intelligence skin laminating device includes: skin coupling face, intermediate level and probe coupling face.
Referring to fig. 2, fig. 2 is a schematic view of a skin coupling surface of the intelligent skin attachment device. The skin coupling surface is made of deformable special materials and can be tightly attached to the skin of a patient, and pressure sensors are distributed on the skin coupling surface; the middle layer is made of materials which do not block ultrasonic waves, the probe coupling surface is a fixed plane, and the probe can freely move on the probe coupling surface.
Referring to fig. 3, fig. 3 is a schematic diagram of the intelligent adjustment after the skin coupling surface contacts the neck skin of the patient. The intermediate layer and the coupling surface of the probe are not significantly specific. The intermediate layer is a liquid or medium that can withstand a certain tension to counteract the pressure changes at the coupling surface of the skin. The probe coupling surface is a fixed plane and can be tightly attached to the probe. The automatic scanning mechanical arm is a mechanical arm capable of automatically moving and holding the probe, and the automatic scanning mechanical arm holds the probe, contacts the probe coupling surface and moves in any direction of the probe coupling surface.
Referring to fig. 4, the fully automatic ultrasonic intelligent scanning method for thyroid comprises:
step 1, controlling a probe to move on a binding surface of an intelligent skin binding device, which is bound with skin, to a central line through an automatic scanning mechanical arm, and acquiring an initial image;
the intelligent skin fitting device is fitted in the thyroid part area;
when the method is used, firstly, the probe is placed on the midline, images are collected, after the background is transmitted to confirm each positioning mark, the probe uses the positioning marks as reference, and performs mobile scanning according to a set program and synchronously transmits the positioning marks to the artificial intelligence post-processing platform.
It can be understood that because the intelligent skin laminating device is laminated in the thyroid gland part area, there is no need for any radioactive rays or toxic and harmful substances, the intelligent skin laminating device is extremely safe for patients, can be repeatedly used, and is suitable for long-term tracking.
Step 2, setting a positioning mark according to a first biological characteristic which is relatively fixed in the initial image;
wherein the first biological characteristics comprise structural characteristics of blood vessels, muscles and muscle gaps and cartilages.
It is worth mentioning that: the invention can be operated on a server which is provided with a control center of a thyroid full-automatic ultrasonic intelligent scanning system and analyzes by receiving various images. The invention comprises the following steps: automatic neck positioning, standardized scanning track control, full-automatic image segmentation and three-dimensional reconstruction, intelligent evaluation and automatic report generation and physician modification and approval.
The invention mainly realizes the automatic neck positioning in step 2, namely, the positioning mark is set according to the result of the fast midline scanning of the ultrasonic probe and the relatively fixed structures such as blood vessels, muscles, muscle gaps, cartilages and the like.
Step 3, controlling the probe to automatically scan the thyroid part area along a preset scanning track by using the positioning mark to obtain a full-automatic image;
step 3 is to complete the standard scanning track control, i.e. to preset several scanning tracks by using each positioning mark, and to automatically select the scanning sequence according to the display condition of different positioning of the patient, so as to obtain a full-automatic image.
Step 4, automatically segmenting the full-automatic image according to a specified second biological characteristic to obtain segmented images for distinguishing different biological characteristic regions;
wherein the second biological characteristic is a structural characteristic of a gland, a nodule, a lymph node and a blood vessel.
The invention can also carry out three-dimensional reconstruction on the segmentation image before the step 5 to form a three-dimensional space image, and carry out space positioning on the focus position on the three-dimensional space image.
This step 4 mainly completes the full-automatic image segmentation, and the process is as follows: the received full-automatic images are automatically segmented, structures such as thyroid glands, nodules, lymph nodes and blood vessels are automatically separated, after the structures are segmented, three-dimensional reconstruction can be carried out on segmented regions of the two-dimensional images, the structures are displayed in different colors, and the lesion positions are precisely spatially positioned.
And 5, automatically measuring the shapes and sizes of the thyroid glands and thyroid nodules of the segmented images, forming an evaluation result according to the shapes and sizes of the thyroid glands and the thyroid nodules, filling the evaluation result into a preliminary image report, and providing the preliminary image report to a doctor so that the doctor can review the preliminary image report and freely call one or more of all the image images to determine whether to modify the preliminary image report.
Wherein, all the video images include: the system comprises an initial image, a full-automatic image, a segmentation image and a three-dimensional space image marking the position of a focus.
The method mainly completes intelligent evaluation and automatic report generation, and the early-stage center trains a large number of images, so that the center can perform benign and malignant evaluation on the automatically segmented images, automatically measure the shapes and sizes of thyroid glands, nodules and the like, and automatically fill the images into an image report template according to the result; the doctor then revises and approves, and the doctor reviews the report that comes out preliminarily, can call up arbitrary original image and post processing image, further revises the report.
It is worth mentioning that: the use provides intelligent skin laminating device, automatic scanning arm and probe and carries out the full-automatic scanning of arbitrary direction, realizes carrying out the automatic scanning to different patients' thyroid gland, and information acquisition can overcome the influence of factors such as different patients fat thin, skin state, breathing, does not receive the intervention of different doctor subjective factors to improve the diagnostic accuracy of thyroid gland.
The invention also provides a thyroid full-automatic ultrasonic intelligent scanning platform which is used for realizing a thyroid full-automatic ultrasonic intelligent scanning method.
According to the thyroid full-automatic ultrasonic intelligent scanning method and platform provided by the invention, one surface of an intelligent skin laminating device is laminated on the skin, the other surface of the intelligent skin laminating device is coupled and laminated with a probe, the probe is connected to an ultrasonic instrument through an automatic scanning mechanical arm, and the intelligent scanning platform can rapidly and automatically scan and give a report through automatic neck positioning, standardized scanning track control, full-automatic image segmentation and three-dimensional reconstruction, intelligent evaluation and automatic report generation and doctor modification and approval, so that the time of a patient and a doctor is saved. The scans for thyroid nodules and cervical lymph nodes are highly stable and are not affected by patient status and different physician levels. The invention can accurately position, can be reconstructed in three dimensions, provides three-dimensional space positioning of a focus for clinicians, particularly surgeons, and easily realizes accurate matching of scanned images of patients at different times. The invention can solve the defect that the traditional ultrasound lacks a standardized scanning technique and reduce the problem of high dependence on the operation technique and the diagnosis level of a doctor.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
While the present application has been described in connection with various embodiments, other variations to the disclosed embodiments can be understood and effected by those skilled in the art in practicing the claimed application, from a review of the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other elements or steps, and the word "a" or "an" does not exclude a plurality.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (7)
1. The utility model provides a thyroid gland full-automatic supersound intelligence scanning method which characterized in that provides intelligent skin laminating device, automatic scanning arm and probe, the laminating of one side of intelligent skin laminating device is on skin, and another side and probe coupling laminating, the probe passes through the automatic scanning arm to be connected on ultrasonic instrument, thyroid gland full-automatic supersound intelligence scanning method includes:
controlling the probe to move on a binding surface of the intelligent skin binding device, which is bound with the skin, to a middle line through an automatic scanning mechanical arm, and acquiring an initial image;
the intelligent skin fitting device is fitted in the thyroid part area;
setting a positioning mark according to a first biological characteristic which is relatively fixed in the initial image;
controlling the probe to automatically scan the thyroid part region along a preset scanning track by using the positioning mark to obtain a full-automatic image;
automatically segmenting the full-automatic image according to a specified second biological characteristic to obtain segmented images for distinguishing different biological characteristic regions;
the morphology and size of thyroid and thyroid nodules of the segmented images are automatically measured, and a preliminary video report is filled in according to the morphology and size formation evaluation results of the thyroid and thyroid nodules and is provided for a doctor, so that the doctor can review the preliminary video report and freely call one or more of all the video images to decide whether to modify the preliminary video report.
2. The method for fully-automatic ultrasonic intelligent scanning of thyroid gland according to claim 1, wherein the intelligent skin attaching device comprises: a skin coupling surface, an intermediate layer and a probe coupling surface;
the skin coupling surface is made of deformable special materials and can be tightly attached to the skin of a patient, and pressure sensors are distributed on the skin coupling surface; the middle layer is made of a material which does not block ultrasonic waves, the probe coupling surface is a fixed plane, and the probe can freely move on the probe coupling surface.
3. The method as claimed in claim 2, wherein the automatic scanning mechanical arm is a mechanical arm capable of automatically moving and holding the probe, and the automatic scanning mechanical arm holds the probe to contact with the probe coupling surface and move in any direction of the probe coupling surface.
4. The method as claimed in claim 1, wherein the first biological characteristics include structural characteristics of blood vessels, muscle and muscle gaps, and cartilage, and the second biological characteristics include structural characteristics of glands, nodes, lymph nodes, and blood vessels.
5. The method according to claim 1, wherein after the fully automatic image is automatically segmented according to the specified second biological feature to obtain a segmented image for distinguishing different biological feature regions, the method further comprises:
and carrying out three-dimensional reconstruction on the segmented image to form a three-dimensional space image, and carrying out space positioning on the position of the focus on the three-dimensional space image.
6. The method according to claim 5, wherein all the image images include:
the system comprises an initial image, a full-automatic image, a segmentation image and a three-dimensional space image marking the position of a focus.
7. A thyroid full-automatic ultrasonic intelligent scanning platform is characterized by being used for realizing the thyroid full-automatic ultrasonic intelligent scanning method according to any one of claims 1 to 6.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117017355A (en) * | 2023-10-08 | 2023-11-10 | 合肥合滨智能机器人有限公司 | Thyroid autonomous scanning system based on multi-modal generation type dialogue |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117017355A (en) * | 2023-10-08 | 2023-11-10 | 合肥合滨智能机器人有限公司 | Thyroid autonomous scanning system based on multi-modal generation type dialogue |
| CN117017355B (en) * | 2023-10-08 | 2024-01-12 | 合肥合滨智能机器人有限公司 | Thyroid autonomous scanning system based on multi-modal generation type dialogue |
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