CN115444448A - Ultrasonic diagnosis image real-time processing system - Google Patents
Ultrasonic diagnosis image real-time processing system Download PDFInfo
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- CN115444448A CN115444448A CN202211306533.3A CN202211306533A CN115444448A CN 115444448 A CN115444448 A CN 115444448A CN 202211306533 A CN202211306533 A CN 202211306533A CN 115444448 A CN115444448 A CN 115444448A
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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
- A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
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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
- A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
- A61B8/4444—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device related to the probe
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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
- A61B8/48—Diagnostic techniques
- A61B8/488—Diagnostic techniques involving Doppler signals
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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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/54—Control of the diagnostic device
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Abstract
The invention provides a real-time processing system of ultrasonic diagnostic images, which comprises: an ultrasonic probe fixed on the mechanical arm and used for sliding from the skin tissue to send an ultrasonic signal to a diagnosis position and receive an ultrasonic echo signal returned from the diagnosis position; the execution recorder is used for recording the moving coordinate data of the mechanical arm in the sliding process of the ultrasonic probe; an image generator for converting the ultrasonic echo signal into a spectral Doppler image; the processing device is used for comparing the spectral Doppler image with a standard image and judging the distance between the ultrasonic probe and the focus position according to the comparison result; a plurality of patch sensors configured based on the distances such that patch sensors are located circumferentially of and surround a focal position; and the patch sensors are used for capturing contraction signals when the skin tissues contract and transmitting the contraction signals to the position confirmation processor so as to judge the accurate position of the focal position.
Description
Technical Field
The invention relates to the technical field of ultrasonic diagnostic image processing, in particular to an ultrasonic diagnostic image real-time processing system.
Background
In the ultrasonic diagnosis process, the focus position of the ultrasonic diagnostic apparatus needs to be obtained, and the conventional method is to continuously roll the die ball according to the upper limit and the lower limit of adjustment, and move up or down according to the rolling signal of the die ball, for example, in the disclosure number: "CN103142247A" discloses a control method for focal position and image depth in an ultrasonic diagnostic apparatus, comprising the following steps: s1, acquiring an upper adjustment limit and a lower adjustment limit of a focus position of an ultrasonic diagnostic apparatus; s2, receiving a rolling signal of a model ball, and correspondingly controlling the focus to move up or down according to the rolling signal; s3, identifying the current position of the focus, judging whether the current position of the focus reaches an upper regulation limit or a lower regulation limit, and if so, executing a step S4; if not, executing the step S2; s4, if the current position of the focus reaches the adjustment upper limit and the signal that the model ball rolls upwards is continuously received, the image depth of the ultrasonic diagnostic apparatus is correspondingly reduced according to the signal; and if the current position of the focus reaches the lower adjustment limit and the signal that the model ball rolls downwards is continuously received, correspondingly increasing the image depth of the ultrasonic diagnostic apparatus according to the signal. The above techniques rely on human experience.
Disclosure of Invention
In view of the above, the main object of the present invention is to provide a real-time processing system for ultrasonic diagnostic images.
The technical scheme adopted by the invention is as follows:
an ultrasonic diagnostic image real-time processing system comprising:
an ultrasonic probe fixed on the mechanical arm and used for sliding from the skin tissue to send ultrasonic signals to a diagnosis position and receive ultrasonic echo signals returned from the diagnosis position;
the execution recorder is used for recording the moving coordinate data of the mechanical arm in the sliding process of the ultrasonic probe;
an image generator for converting the ultrasonic echo signal into a spectral Doppler image;
the processing device is used for comparing the spectral Doppler image with a standard image and judging the distance between the ultrasonic probe and the focus position according to the comparison result;
a plurality of patch sensors configured based on the distances such that patch sensors are located circumferentially of and surround a focal position;
and the position confirmation processor is used for enabling the peripheral skin tissues to contract due to the pressure applied to the diagnosis position by the ultrasonic probe when the ultrasonic probe moves at the diagnosis position, and the patch sensors are used for capturing contraction signals when the skin tissues contract and transmitting the contraction signals to the position confirmation processor so as to judge the accurate position of the focus position.
Further, the processing device comprises:
a receiving unit, configured to receive a spectral doppler image;
the detection unit scans the received spectral Doppler images through the sliding window to acquire the clear states of the spectral Doppler images at different positions;
the marking unit is used for marking unclear defect positions in the spectral Doppler images and calling a coordinate point set corresponding to the defect positions by solving the moving coordinate data in the execution recorder;
the feedback actuator is used for controlling the mechanical arm to drive the ultrasonic probe to move based on the coordinate point set so as to repeatedly slide the specific position of the skin tissue corresponding to the defect position to adjust the definition of the spectral Doppler image corresponding to the defect position;
the divider is used for dividing the adjusted spectral Doppler image into a plurality of sub-images according to the set distance;
and the comparator is used for comparing each sub-image with the standard image, setting simulation parameters and simulating the distance between the ultrasonic probe and the focus position according to the comparison result.
Further, the execution recorder is connected with the controller of the mechanical arm;
the execution recorder establishes initial coordinates based on the initial position of the mechanical arm, and calculates coordinate data of the moving position according to the moving direction and the moving speed of the mechanical arm.
Furthermore, the patch sensor is provided with at least 3 patch sensors which are respectively arranged on the mechanical arm.
Further, the position confirmation processor includes:
a judging unit for judging the moving state and the moving position of the ultrasonic probe;
a feedback device for driving a driving mechanism on a mechanical arm to paste the patch sensor to a specified position based on the moving state and the moving position of the ultrasonic probe;
the artificial intelligence system is used for receiving a contraction signal when skin tissues captured by the patch sensor contract and training in a training model based on the contraction signal so as to judge the accurate position of the focal point;
and the regulator is used for correspondingly adjusting the simulation parameters based on the acquired accurate position of the focal position.
Further, the specified positions are a plurality of reference positions set based on the focus position as a center.
In the present application, the robot arm is used instead of manual operation, and before diagnosis, the movement stroke of the operation arm is set based on basic information of a person to be diagnosed by inquiring and observing the basic information, and in the process, the robot arm moves according to the set movement stroke. The ultrasonic probe fixed on the mechanical arm slides over skin tissue to send an ultrasonic signal to a diagnosis position and receive an ultrasonic echo signal returned from the diagnosis position, the execution recorder is used for recording moving coordinate data of the mechanical arm in the sliding process of the ultrasonic probe, the image generator is used for converting the ultrasonic echo signal into a spectral Doppler image, and the detection unit scans the received spectral Doppler image through a sliding window to obtain the clear states of the spectral Doppler images at different positions; the marking unit is used for marking unclear defect positions in the spectral Doppler images and calling and executing coordinate point sets corresponding to the defect positions by solving corresponding moving coordinate data in the recorder; the feedback actuator is used for controlling the mechanical arm to drive the ultrasonic probe to move based on the coordinate point set so as to repeatedly slide the specific position of the skin tissue corresponding to the defect position to adjust the definition of the spectral Doppler image corresponding to the defect position; the divider is used for dividing the adjusted spectral Doppler image into a plurality of sub-images according to a set distance; the comparator is used for comparing each subimage with the standard image, setting simulation parameters and simulating the distance between the ultrasonic probe and the focus position according to the comparison result; the position confirmation processor is used for enabling the pressure applied to the diagnosis position by the ultrasonic probe to cause the peripheral skin tissue to contract when the ultrasonic probe moves at the diagnosis position, and the patch sensors are used for capturing contraction signals when the skin tissue contracts; the artificial intelligence system is used for receiving a contraction signal when skin tissues captured by the patch sensor contract, and training in a training model based on the contraction signal to judge the accurate position of the focal point; the adjuster correspondingly adjusts the simulation parameters based on the precise position of the acquired focal position.
Through the above description, the present application can make an accurate judgment on the focus position continuously through the artificial intelligence system.
Drawings
The invention is illustrated and described only by way of example and not by way of limitation in the scope of the invention as set forth in the following drawings, in which:
FIG. 1 is a schematic view of the construction of the diagnostic device of the present invention;
fig. 2 is a schematic structural view of the fixing device of the present invention.
Detailed Description
In order to make the objects, technical solutions, design methods, and advantages of the present invention more apparent, the present invention will be further described in detail by specific embodiments with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention provides a real-time processing system of ultrasonic diagnostic images, which comprises:
an ultrasonic probe fixed on the mechanical arm and used for sliding from the skin tissue to send ultrasonic signals to a diagnosis position and receive ultrasonic echo signals returned from the diagnosis position;
the execution recorder is used for recording the moving coordinate data of the mechanical arm in the sliding process of the ultrasonic probe;
an image generator for converting the ultrasonic echo signal into a spectral Doppler image;
the processing device is used for comparing the spectrum Doppler image with a standard image and judging the distance between the ultrasonic probe and the focus position according to the comparison result;
a plurality of patch sensors configured based on the distances such that patch sensors are located circumferentially of and surround a focal position;
and the patch sensors are used for capturing contraction signals when the skin tissues contract and transmitting the contraction signals to the position confirmation processor so as to judge the accurate position of the focal position.
In the above, the robot arm movement stroke may be determined by inquiring and observing basic information of the person to be diagnosed before the diagnosis, for example, determining which part is uncomfortable, and setting the movement stroke of the operation arm according to the specific condition of the person to be diagnosed. Generally, in the process of setting the operation stroke, the mechanical arm is further scanned by the scanning device according to a specific diagnosis part to construct a specific tissue structure (including bulges, depressions and bone nodes of a body tissue structure) of an area covered by the movement stroke, and the pressing stroke of the mechanical arm in working along the set stroke is adjusted in real time according to the specific tissue structure to ensure that the ultrasonic probe presses down the skin tissue according to the set pressure.
In the above, the processing device includes:
a receiving unit, configured to receive a spectral doppler image;
the detection unit scans the received spectral Doppler images through the sliding window to acquire the clear states of the received spectral Doppler images at different positions;
the marking unit is used for marking unclear defect positions in the spectral Doppler images and calling a coordinate point set corresponding to the defect positions by solving the moving coordinate data in the execution recorder;
the feedback actuator is used for controlling the mechanical arm to drive the ultrasonic probe to move based on the coordinate point set so as to repeatedly slide the specific position of the skin tissue corresponding to the defect position to adjust the definition of the spectral Doppler image corresponding to the defect position;
the divider is used for dividing the adjusted spectral Doppler image into a plurality of sub-images according to the set distance; for example, a set distance is set at 5cm, or an empirical period is set (spectral doppler images are imaged approximately at a certain period).
And the comparator is used for comparing each sub-image with the standard image, setting simulation parameters and simulating the distance between the ultrasonic probe and the focus position according to the comparison result.
In the above, the experience period may be obtained by collecting historical data of different genders, different ages and different diagnostic parts to perform iterative training in an experience model in an artificial intelligence system, and an archive is established based on the obtained experience periods, when a diagnosed person is diagnosing, an appropriate experience period may be called from the archive for a segmenter to segment the adjusted spectral doppler image into a plurality of sub-images according to the experience period by observing and inquiring personal information and basic information of the diagnosed person.
In the above, the execution recorder is connected to the controller of the robot arm; the execution recorder establishes initial coordinates based on the initial position of the mechanical arm, and calculates coordinate data of a moving position according to the moving direction and the moving speed of the mechanical arm.
In the above, at least 3 patch sensors are provided and are respectively arranged on the mechanical arm.
In the above, the position confirmation processor includes:
a judging unit for judging the moving state and the moving position of the ultrasonic probe;
a feedback device for driving a driving mechanism on a mechanical arm to paste the patch sensor to a specified position based on the moving state and the moving position of the ultrasonic probe;
the artificial intelligence system is used for receiving a contraction signal when skin tissues captured by the patch sensor are contracted, and training in a training model based on the contraction signal so as to judge the accurate position of the focal position;
and the regulator is used for correspondingly adjusting the simulation parameters based on the acquired accurate position of the focal position.
The specified positions are a plurality of reference positions set based on the focus position as a center.
Referring to fig. 1 and 2, in order to facilitate the implementation of the present application, the present application also provides a diagnostic apparatus including: the Y-axis moving component is provided with a Z-direction upright post at the upper part thereof, 103 is provided with an X-axis cross beam 106 on the upright post, and is provided with an X-axis driving component.
The X-axis drive assembly includes: a base plate 108 is arranged at the lower part of the X-axis beam, an X-axis servo motor 109 is arranged at the left side of the base plate, a motor shaft of the X-axis servo motor is connected with an X-axis linear lead screw 110 through a coupler, an X-axis lead screw nut is arranged on the X-axis linear lead screw, and the X-axis lead screw nut is fixed inside an X-axis sliding block 105; the right side of the X-axis linear screw is provided with a limiting block 104.
An X-axis slide rail 107 is further arranged on the base plate, the X-axis slide rail is located on the upper portion of the X-axis linear lead screw, and the X-axis slide block is arranged on the X-axis slide rail.
A fixing plate 111 is arranged at the lower part of the X-axis sliding block, a Z-axis driving air cylinder 112 is arranged at the lower part of the fixing plate, a fixing block 114 is arranged at the lower part of a Z-axis push rod 113 of the Z-axis driving air cylinder, a scanning device 115 is arranged at one side of the fixing block, an ultrasonic probe 117 is arranged at the lower part of the fixing block, and fixing devices 116 of patch sensors are respectively arranged at least at the side surfaces of the fixing block.
The fixing device comprises a patch plate 200, the patch plate is fixed on the side face of a fixing block, an X-axis patch driving cylinder 202 is arranged on the patch plate, an X-axis patch fixing plate 203 is arranged on an X-axis patch push rod 201 of the X-axis patch driving cylinder, a Z-axis patch driving cylinder 204 is arranged at the lower part of the X-axis patch fixing plate, and a patch sensor 206 is arranged at the lower part of a Z-axis patch push rod 205 of the Z-axis patch driving cylinder.
In the aforesaid, the quantity of paster sensor can set up according to the structure of fixed block, for example, when the fixed block is square or cuboid, can lay 4 paster sensors, when being the regular hexahedron, can lay 6 paster sensors, specifically how much can set for according to actual need.
In the foregoing, the Y-axis moving assembly includes a Y-axis beam fixed on the ground, a Y-axis sliding rail is disposed on the Y-axis beam, a Y-axis driving assembly is disposed on the Y-axis sliding rail, and the structure of the Y-axis driving assembly is the same as that of the X-axis driving assembly.
In a specific work, a person to be diagnosed lies on the bed 300, and before the diagnosis, the movement stroke of the operation arm is set based on the basic information by inquiring and observing the basic information of the person to be diagnosed, and in the process, the robot arm moves according to the set movement stroke. Specifically, the position of the upright column is moved along the Y axis through the Y-axis driving assembly, the ultrasonic probe is roughly moved at a diagnosis part, then the X-axis linear lead screw is driven to rotate through the X-axis servo motor, so that the X-axis lead screw nut is driven to linearly move along the X-axis linear lead screw, the linear motion of the X-axis lead screw nut is the linear motion of the X-axis sliding block, so that the ultrasonic probe is moved to the upper end of the diagnosis part, the stroke is set, the diagnosis part is scanned by the scanning device firstly, so that a three-dimensional model (including bulges, depressions and bone sections of a body tissue structure) of a specific tissue structure of a region covered by the movement stroke is constructed, and the pressing stroke of the mechanical arm is adjusted in real time along the set stroke according to the three-dimensional model of the specific tissue structure, so that the ultrasonic probe is guaranteed to press skin tissues according to the set pressure.
The adjustment can be realized by a controller, parameters obtained by the three-dimensional model are input into the controller, and the controller can control and adjust the downward stroke of the mechanical arm when the mechanical arm works along the set stroke, namely the downward stroke of the Z-axis driving cylinder.
Similarly, parameters obtained based on the three-dimensional model are input to the controller, and the controller controls the downward extending stroke of each Z-axis patch driving cylinder.
In the present application, the robot arm is used instead of manual operation, and before diagnosis, the movement stroke of the operation arm is set based on basic information of a person to be diagnosed by inquiring and observing the basic information, and in the process, the robot arm moves according to the set movement stroke. The ultrasonic probe fixed on the mechanical arm slides over skin tissue to send an ultrasonic signal to a diagnosis position and receive an ultrasonic echo signal returned from the diagnosis position, the execution recorder is used for recording moving coordinate data of the mechanical arm in the sliding process of the ultrasonic probe, the image generator is used for converting the ultrasonic echo signal into a spectral Doppler image, and the detection unit scans the received spectral Doppler image through a sliding window to obtain the clear states of the spectral Doppler images at different positions; the marking unit is used for marking unclear defect positions in the spectral Doppler images and calling and executing coordinate point sets corresponding to the defect positions by solving corresponding moving coordinate data in the recorder; the feedback actuator is used for controlling the mechanical arm to drive the ultrasonic probe to move based on the coordinate point set so as to repeatedly slide the specific position of the skin tissue corresponding to the defect position to adjust the definition of the spectral Doppler image corresponding to the defect position; the divider is used for dividing the adjusted spectral Doppler image into a plurality of sub-images according to the set distance; the comparator is used for comparing each subimage with the standard image, setting simulation parameters and simulating the distance between the ultrasonic probe and the focus position according to the comparison result; the position confirmation processor is used for enabling the ultrasonic probe to exert pressure on the diagnosis position to cause the surrounding skin tissue to contract when the ultrasonic probe moves at the diagnosis position, and the patch sensors are used for capturing contraction signals when the skin tissue contracts; the artificial intelligence system is used for receiving a contraction signal when skin tissues captured by the patch sensor are contracted, and training in a training model based on the contraction signal so as to judge the accurate position of the focal position; the adjuster correspondingly adjusts the simulation parameters based on the precise position of the acquired focal position.
While embodiments of the present invention have been described above, the above description is illustrative, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (6)
1. An ultrasonic diagnostic image real-time processing system, comprising:
an ultrasonic probe fixed on the mechanical arm and used for sliding from the skin tissue to send an ultrasonic signal to a diagnosis position and receive an ultrasonic echo signal returned from the diagnosis position;
the execution recorder is used for recording the moving coordinate data of the mechanical arm in the sliding process of the ultrasonic probe;
an image generator for converting the ultrasonic echo signal into a spectral Doppler image;
the processing device is used for comparing the spectral Doppler image with a standard image and judging the distance between the ultrasonic probe and the focus position according to the comparison result;
a plurality of patch sensors configured based on the distances such that patch sensors are located circumferentially of and surround a focal position;
and the patch sensors are used for capturing contraction signals when the skin tissues contract and transmitting the contraction signals to the position confirmation processor so as to judge the accurate position of the focal position.
2. The ultrasonic diagnostic image real-time processing system according to claim 1, characterized in that the processing means comprises:
a receiving unit, configured to receive a spectral doppler image;
the detection unit scans the received spectral Doppler images through the sliding window to acquire the clear states of the spectral Doppler images at different positions;
the marking unit is used for marking unclear defect positions in the spectral Doppler images and calling a coordinate point set corresponding to the defect positions by solving the moving coordinate data in the execution recorder;
the feedback actuator is used for controlling the mechanical arm to drive the ultrasonic probe to move based on the coordinate point set so as to repeatedly slide the specific position of the skin tissue corresponding to the defect position to adjust the definition of the spectral Doppler image corresponding to the defect position;
the divider is used for dividing the adjusted spectral Doppler image into a plurality of sub-images according to the set distance;
and the comparator is used for comparing each sub-image with the standard image, setting simulation parameters and simulating the distance between the ultrasonic probe and the focus position according to the comparison result.
3. The ultrasonic diagnostic image real-time processing system according to claim 1, wherein the execution recorder is connected to a controller of the robot arm;
the execution recorder establishes initial coordinates based on the initial position of the mechanical arm, and calculates coordinate data of a moving position according to the moving direction and the moving speed of the mechanical arm.
4. The real-time ultrasonic diagnostic image processing system according to claim 1, wherein at least 3 patch sensors are provided, each disposed on a robot arm.
5. The real-time ultrasonic diagnostic image processing system according to claim 1, wherein the position confirmation processor comprises:
a judging unit for judging the moving state and the moving position of the ultrasonic probe;
a feedback device for driving a driving mechanism on a mechanical arm to paste the patch sensor to a specified position based on the moving state and the moving position of the ultrasonic probe;
the artificial intelligence system is used for receiving a contraction signal when skin tissues captured by the patch sensor contract and training in a training model based on the contraction signal so as to judge the accurate position of the focal point;
and the regulator is used for correspondingly adjusting the simulation parameters based on the acquired accurate position of the focal position.
6. The ultrasonic diagnostic image real-time processing system according to claim 5, characterized in that the specified positions are a plurality of reference positions set centering on a focal position.
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