CN215128942U - Posture monitoring device of ultrasonic probe - Google Patents
Posture monitoring device of ultrasonic probe Download PDFInfo
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- CN215128942U CN215128942U CN202023127051.0U CN202023127051U CN215128942U CN 215128942 U CN215128942 U CN 215128942U CN 202023127051 U CN202023127051 U CN 202023127051U CN 215128942 U CN215128942 U CN 215128942U
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- 238000003384 imaging method Methods 0.000 abstract description 10
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Abstract
The utility model discloses an ultrasonic probe's gesture monitoring device, the device includes: an ultrasonic probe; a structured light camera disposed on the ultrasound probe; an infrared distance measuring sensor arranged on the ultrasonic probe; the structured light camera is fixed with the ultrasonic probe and is used for acquiring an image of a region to be scanned; the infrared distance measuring sensor is used for measuring the distance between the ultrasonic probe and the part to be scanned. The utility model discloses a mounting structure light camera and infrared distance measuring sensor on ultrasonic probe makes the common cooperation of each sensor obtain ultrasonic probe and the positional information who treats the scanning position, and distance and laminating state carry out logic judgement and control ultrasonic probe and carry out corresponding motion state adjustment according to the data that obtain to ultrasonic probe can not laminate and treat that the scanning position is too tight or exert pressure too big, has improved ultrasonic scanning imaging quality and can not arouse patient's adverse reaction.
Description
Technical Field
The utility model relates to an ultrasonic probe technical field especially relates to an ultrasonic probe's gesture monitoring device.
Background
For the ultrasonic operation navigation system, when a doctor manually performs an operation, the mechanical arm controls the probe to track a surgical instrument or fix the probe at an operation position for real-time scanning and imaging. Ultrasonic scanning requires that the probe applies proper pressure on the skin, the joint state of the probe and the skin needs to be monitored in real time, and the probe is adjusted to avoid the situation that the joint is not tight or the applied pressure is too large.
In the prior art, the strain gauge is attached to the surface of the probe, the attachment state of the probe and the skin is monitored through the strain gauge, but the attachment of the strain gauge influences the work of the probe at the attached part, so that the attachment cannot be carried out too much, the attachment cannot be effectively monitored too little, and the mode and effect of attaching the strain gauge in the prior art are poor.
Thus, there is a need for improvements and enhancements in the art.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model lies in, to the above-mentioned defect of prior art, provide an ultrasonic probe's gesture monitoring device, when aiming at solving the ultrasonic probe among the prior art and adopting the laminating state of pasting foil gage detection and scanning position, the effect of adjustment ultrasonic probe is very not good for ultrasonic probe and scanning position laminating are inseparable or exert the too big condition of pressure and take place, lead to the poor and patient of ultrasonic scanning imaging quality uncomfortable.
In order to solve the technical problem, the utility model discloses the technical scheme who adopts as follows:
in a first aspect, the present invention provides a method for monitoring the posture of an ultrasonic probe, wherein the method comprises:
an attitude monitoring apparatus of an ultrasonic probe, wherein the apparatus comprises: an ultrasonic probe; a structured light camera disposed on the ultrasound probe; an infrared distance measuring sensor arranged on the ultrasonic probe; the structured light camera is fixed with the ultrasonic probe and is used for acquiring an image of a region to be scanned; the infrared distance measuring sensor is used for measuring the distance between the ultrasonic probe and the part to be scanned.
In one implementation, the infrared distance measuring sensors are provided with four.
In one implementation, the infrared distance measuring sensors are arranged on the ultrasonic probe in a centrosymmetric manner.
In one implementation, a pressure sensor is further disposed on the ultrasonic probe, and the pressure sensor is used for acquiring pressure data of the ultrasonic probe between the scanning and the part to be scanned.
In one implementation, the pressure sensors are provided in two.
In one implementation, the pressure sensors are disposed at both ends of the ultrasound probe.
In one implementation, the ultrasonic probe is further connected to a mechanical arm, and the mechanical arm is connected to the pressure sensor and the infrared distance measuring sensor, so that the mechanical arm is controlled to adjust the posture of the ultrasonic probe through feedback from the pressure sensor and the infrared distance measuring sensor.
Has the advantages that: the utility model provides an ultrasonic probe's gesture monitoring device, the device includes: an ultrasonic probe; a structured light camera disposed on the ultrasound probe; an infrared distance measuring sensor arranged on the ultrasonic probe; the structured light camera is fixed with the ultrasonic probe and is used for acquiring an image of a region to be scanned; the infrared distance measuring sensor is used for measuring the distance between the ultrasonic probe and the part to be scanned. The utility model discloses a mounting structure light camera and infrared distance measuring sensor on ultrasonic probe makes the common cooperation of each sensor obtain ultrasonic probe and the positional information who treats the scanning position, and distance and laminating state carry out logic judgement and control ultrasonic probe and carry out corresponding motion state adjustment according to the data that obtain to ultrasonic probe can not laminate and treat that the scanning position is too tight or exert pressure too big, has improved ultrasonic scanning imaging quality and can not arouse patient's adverse reaction.
Drawings
Fig. 1 is a side view illustrating an attitude monitoring apparatus for an ultrasonic probe according to an embodiment of the present invention.
Fig. 2 is a front view illustrating an attitude monitoring apparatus for an ultrasonic probe according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and effects of the present invention clearer and clearer, the following description of the present invention will refer to the accompanying drawings and illustrate embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.
For the ultrasonic operation navigation system, when a doctor manually performs an operation, the mechanical arm controls the probe to track a surgical instrument or fix the probe at an operation position for real-time scanning and imaging. Ultrasonic scanning requires that the probe applies proper pressure on the skin, the joint state of the probe and the skin needs to be monitored in real time, and the probe is adjusted to avoid the situation that the joint is not tight or the applied pressure is too large.
In the prior art, the strain gauge is attached to the surface of the probe, the attachment state of the probe and the skin is monitored through the strain gauge, but the attachment of the strain gauge influences the work of the probe at the attached part, so that the attachment cannot be carried out too much, the attachment cannot be effectively monitored too little, and the mode and effect of attaching the strain gauge in the prior art are poor.
In order to solve the problems of the prior art, the present embodiment provides an attitude monitoring apparatus of an ultrasonic probe. When the utility model is applied, firstly, the ultrasonic probe is utilized to scan the part to be scanned, the structured light on the ultrasonic probe inputs the image of the part to be scanned into a preset target detection network for image processing, the target detection network is obtained by training, before formal ultrasonic scanning is carried out, the image of the part to be scanned, which is obtained by sampling, is processed and trained according to the algorithm to form the target detection network, after the image of the part to be scanned is processed in the detection network, the position information of the part to be scanned is obtained, simultaneously, the infrared distance measuring sensor on the ultrasonic probe measures the distance to the part to be scanned, and the pressure sensor on the ultrasonic probe also obtains the pressure data between the ultrasonic probe and the part to be scanned, all the sensors are matched together to carry out real-time data detection and data transmission to the system, the system carries out real-time logic judgment and controls the mechanical arm according to the algorithm, the mechanical arm drives the ultrasonic probe to move according to the algorithm track, and the posture of the ultrasonic probe is adjusted, so that the ultrasonic probe is attached to a part to be scanned in the optimal posture in the scanning process, the ultrasonic scanning imaging quality is improved, and adverse reactions of patients cannot be caused.
When specifically implementing, as shown in fig. 1 and fig. 2, the embodiment of the utility model provides an attitude monitoring device of ultrasonic probe, the device includes: an ultrasonic probe 50; a structured light camera disposed on the ultrasound probe 50; an infrared distance measuring sensor 20 provided on the ultrasonic probe 50; the structured light camera 10 is fixed with the ultrasonic probe 50 and is used for acquiring an image of a region to be scanned; the infrared distance measuring sensor 20 is used for measuring the distance between the ultrasonic probe 50 and the part to be scanned, and the ultrasonic emitting part 40 of the ultrasonic probe is flush with the structured light camera 10 and the infrared distance measuring sensor. In this embodiment, the structured light camera and the infrared distance measuring sensor 20 are installed on the ultrasonic probe 50, so that the sensors cooperate together to obtain the position information, distance and fitting state of the ultrasonic probe 50 and the part to be scanned, and perform logic judgment according to the obtained data and control the ultrasonic probe 50 to perform corresponding motion state adjustment, so that the ultrasonic probe 50 cannot be fitted to the part to be scanned too tightly or exert too much pressure, the ultrasonic scanning imaging quality is improved, and adverse reactions of patients cannot be caused.
The utility model discloses an ultrasonic probe 50 has loaded common real-time detection ultrasonic probe 50 of a plurality of sensors and has treated the laminating state at scanning position, compromises vision guide and pressure guide simultaneously, for example
| Within 10cm of | Pressed into the space within 2cm | The distance exceeds 10cm | Pressed in over 2cm | |
| Pressure of 0 | Visual guidance | Visual guidance | Visual guidance | Visual guidance |
| Pressure balancing | Pressure guidance | Visual guidance | ||
| Pressure imbalance | Pressure guidance | Visual and pressure guidance |
The ultrasonic probe 50 can be adjusted by real-time visual guidance and pressure guidance according to the detected data, so that the fitting state is optimal. Before formal ultrasonic scanning is carried out on a part to be scanned of a human body, multiple sampling image processing needs to be carried out on the part to be scanned of the human body to construct a target detection network, the target network is used for acquiring the relative position of an ultrasonic probe 50 and the part to be scanned, namely, image input is carried out on the part to be scanned by using a structured light camera fixed on the ultrasonic probe 50, the scanned image is input into a target neural network, image registration and labeling are carried out according to an algorithm, and the target detection network is trained by taking MobileNet as a basic network; after preparation work is done, when ultrasonic scanning is formally carried out, the ultrasonic probe 50 is moved and attached to a part to be scanned, at the moment, the structured light camera 10 is also scanning images in real time and inputting the images into a target detection network; the target detection network outputs the position information of the ultrasonic probe 50 relative to the part to be scanned, the infrared distance measuring sensor 20 on the ultrasonic probe 50 is opened according to the position information, the distance between the ultrasonic probe 50 and the part to be scanned is measured, the system carries out logic judgment according to the distance data and the pressure data measured by the pressure sensor 30 on the ultrasonic probe 50 according to an algorithm, the system controls the ultrasonic probe 50 in real time according to a PID algorithm according to the result of the logic judgment, the posture of the ultrasonic probe 50 is adjusted, and the ultrasonic probe 50 can scan in the optimal posture in the whole ultrasonic scanning process.
For example, the ultrasonic scanning and the control of the posture of the ultrasonic probe 50 are performed simultaneously, in the first stage of the beginning of the ultrasonic scanning, the mechanical arm controls the ultrasonic probe 50 to move to the position, 10cm away from the skin, in the planned path at a high speed of 20cm/s, the structured light camera 10 acquires a frame of image after the movement is finished, the infrared distance measuring sensor 20 is started to calculate whether the distance between the current probe and the skin reaches the position 10cm-15cm above the skin to be scanned, if not, the current probe and the skin continue to move at the speed of 10cm/s, and if so, the current probe and the skin slow down to 2cm/s to enter the next stage. In the second stage, the infrared distance measuring sensor 20 is required to monitor the distance between the ultrasonic probe 50 and the skin in real time, the distance between the ultrasonic probe 50 and the skin is continuously fed back, when the distance between the ultrasonic probe 50 and the skin is 1cm, the speed is reduced to 0.5cm/s, the pressure data collected by the pressure sensors 30 is monitored, when the contact pressures of the pressure sensors 30 at the two ends are both 5-8N and the difference is less than 1N, or the infrared distance measuring sensor 20 detects that the ultrasonic probe 50 is pressed into the skin by 1cm after contacting the skin, and the third stage, namely the scanning stage, is entered. In the third stage, the scanning task is completed at the speed of 0.5cm/s under the detection of the pressure sensor 30 and the structured light camera 10, and if the pressure is unbalanced in the scanning process, the ultrasonic probe 50 is rotated to balance the pressure; if the pressure at both ends of the probe is very small, or the infrared distance measuring sensor 20 detects that both ends of the pressure sensor 30 are not in contact and the pressing depth is enough, the structured light camera 10 guides to continue scanning, and in the process, the direction of the ultrasonic probe 50 is collinear with the vertical line of the skin pixels, so that the ultrasonic probe 50 is ensured to be always pressed on the skin. And after the scanning is finished, returning to the initial position at the speed of 20cm/s to finish the ultrasonic scanning task.
In the third stage, the robot arm is controlled by the PID algorithm to adjust the posture of the ultrasonic probe 50, a rectangular coordinate system is established by defining the front surface of the ultrasonic probe 50 according to the right-hand rule, a three-dimensional coordinate system is established by adding the rectangular coordinate system to the emission direction of the ultrasonic generating part of the ultrasonic probe 50, the pressure sensor 30 measures data F1, F2< m is 0.05N: the current probe is not considered to be in contact with the skin. According to the distances respectively measured by the four infrared distance measuring sensors 20, the distance between the ultrasonic probe 50 and the skin is calculated, and the posture of the ultrasonic probe 50 is adjusted according to the three-dimensional coordinates, and the specific measures are as follows: calculating the average value of the four infrared ranging sensors 20, calculating the difference between the distance measured by each infrared ranging sensor 20 and the average value, deflecting the corresponding direction according to the sequence of the absolute value of the difference from large to small, taking the real-time difference value as input, and adjusting the rotating speed by using a PID controller until the absolute value of each difference is less than dL 1 cm. And then the distance between the probe and the surface of the tissue to be scanned is calculated by the mean value of the four infrared distance measuring sensors 20, the PID controller is used for controlling the ultrasonic probe 50 to move downwards according to the distance until the ultrasonic probe 50 is contacted with the skin, and the pressure sensor 30 transmits a pressure signal. The pressure sensor 30 measures data F1, F2> u is 0.5N, then contact is started currently, if F1, F2< M is 2N or F1, and F2> M is 4N, then the current ultrasonic probe 50 is too tightly or too loosely contacted with the skin, and a PID control strategy is adopted to control the ultrasonic probe 50 to be far away from or close to the skin. If the measured values 2N < F1, F2<4N, the current contact force is considered appropriate, the difference dF is calculated as F1-F2, and if dF >0.3N, the angle about the Y-axis is adjusted using PID control so that the X-axis of the probe is parallel to the skin surface. If the difference dL is made between the measurement results of the infrared distance measuring sensor 20 along the Y-axis direction and dL >1cm, the angle around the X-axis direction is adjusted using the PID controller. Finally the ultrasound probe 50 can apply a force of suitable magnitude on the skin and the probe is scanned strictly perpendicular to the tissue surface, and finally an image acquisition is performed.
The present embodiment provides a method for monitoring the posture of an ultrasound probe 50, the method including the steps of:
and step S100, acquiring the position information of the ultrasonic probe 50 relative to the part to be scanned.
Use the utility model discloses the time, can do ultrasonic testing simultaneously and adjust ultrasonic probe 50's detection gesture, but use earlier some preparation work of will doing, at first utilize the structured light camera 10 collection on ultrasonic probe 50 to wait to scan regional image sample, train into the target detection network according to the algorithm with the image sample, when formally carrying out ultrasonic scanning, the structured light camera 10 treats the scanning position and scans together along with ultrasonic probe 50 scans and treats the scanning position, and input to the target detection network, thereby just can obtain the positional information who treats the scanning position according to the result of target detection network output.
In one implementation, the step S100 specifically includes the following steps:
s101, acquiring an image of a region to be scanned through a preset structured light camera 10, wherein the structured light camera 10 and the ultrasonic probe 50 are fixed together;
s102, according to the image of the region to be scanned, the position information of the ultrasonic probe 50 relative to the part to be scanned is determined.
In specific implementation, as shown in fig. 1 and 2, the structured light camera 10 and the ultrasonic probe 50 are fixed together, and before formal scanning, the structured light camera 10 is required to sample an image for training to obtain a target detection network, that is, an image of a region to be scanned is obtained by transmitting and receiving infrared rays through the structured light camera 10 in advance, and the image of the region to be scanned and an RGB image of the camera are registered to obtain a color value of a depth map and expanded to a six-channel map of RBG-XYZ, and an original three-channel image is expanded to a six-channel image of RGB-XYZ; determining the position of a part to be scanned in a region to be scanned according to the color information, marking a label, and constructing a training set, wherein the training set comprises image frames which are intercepted from images of the region to be scanned in different scanning stages according to the same proportion in advance; and using the MobileNet as a basic network, and using a training set to train the MobileNet to obtain the target detection network.
When the ultrasonic scanning is formally performed, the ultrasonic probe 50 scans a part to be scanned, and simultaneously, the image of the region to be scanned is acquired through the preset structured light camera 10, and the position information of the ultrasonic probe 50 relative to the part to be scanned can be determined according to the image of the part to be scanned, specifically, the image of the region to be scanned, which is scanned by the preset structured light camera 10, is input into a preset target detection network, the position of the part to be scanned in the region to be scanned is determined, and the position information of the ultrasonic probe 50 relative to the part to be scanned is determined according to the position of the part to be scanned.
For example, the target detection network selects the currently most advanced one-stage target detection method ssd (single Shot multi box detector), and with MobileNet as a basic network, it may use less computing resources under the condition of ensuring precision, an input picture first passes through the first MobileNet network to extract a first large-scale feature map, and then passes through feature extraction for multiple times in sequence to obtain feature maps of different sizes, and the feature map of each scale may participate in detection, and the large-scale feature map is sensitive to small-size objects, and the small-scale feature map is sensitive to size objects, such a feature pyramid network structure (feature pyramid network) may implement detection of different-size objects. In a target detection task, a training sample is a prior frame, and positive and negative samples are quite unbalanced, so that the SSD network samples negative samples, the negative samples are arranged in a descending order according to confidence errors (the smaller the confidence of a prediction background is, the larger the error is) during sampling, and top-k with larger error is selected as the training negative sample to ensure that the proportion of the positive and negative samples is close to 1: 3. The loss function is defined as a weighted sum of the location error (loc) and the confidence error (conf):
where N is the number of positive samples of the prior box. Here, xpij ∈ {1,0} is an indication parameter, which indicates that the ith prior frame matches the jth group channel when xpij ═ 1, and the category of the group channel is p. And c is a category confidence prediction value. l is the predicted value of the position of the corresponding bounding box of the prior frame, and g is the position parameter of the ground channel.
The target network needs to be trained through a training set in practice, and for acquisition of training data, the mechanical arm moves for multiple times along a planned track to drive the structured light camera 10, the structured light camera 10 is started to scan for multiple times of fixed planning, an image of a region to be scanned is registered with an RGB (red, green and blue) image of the camera to obtain depth information of each pixel, a camera video is recorded, the position of skin is judged manually according to the video and the depth information, a ground channel is drawn manually, characteristics of a probe and the surface of a human body are marked, a label is made, in order to enable the training set to be distributed evenly, video frames are sampled and intercepted according to the same proportion at different scanning stages in the video, the intercepted video frames are used as a data set, and pictures are stored. And adopting horizontal overturning, random cutting and color distortion, randomly acquiring a block domain mode to amplify a data set to obtain 3000 pictures, and storing the pictures in a workstation to finish training.
When the main scanning is performed, the image scanned by the structured light camera 10 is input to the target detection network, and the position information of the ultrasonic probe 50 relative to the part to be scanned is obtained.
And S200, determining the distance between the ultrasonic probe 50 and the part to be scanned according to the position information.
After the system acquires the position information of the ultrasonic probe 50 relative to the part to be scanned, the infrared distance measuring sensor 20 arranged on the ultrasonic probe 50 can be started, the system controls the infrared distance measuring sensor 20 to work, and the distance between the ultrasonic probe 50 and the part to be scanned is determined.
In one implementation, the step S200 specifically includes the following steps:
s201, starting the infrared distance measuring sensors 20 preset on the ultrasonic probe 50 according to the position information, wherein four infrared distance measuring sensors 20 are arranged symmetrically;
s202, measuring the distance between the ultrasonic probe 50 and the part to be scanned through the infrared distance measuring sensor 20.
In specific implementation, as shown in fig. 1 and 2, the ultrasonic probe 50 is provided with the infrared distance measuring sensors 20, and the total number of the infrared distance measuring sensors 20 is four, and the four infrared distance measuring sensors 20 surround the ultrasonic probe 50 and are symmetrically arranged.
The system starts the infrared distance measuring sensor 20 preset on the ultrasonic probe 50 according to the obtained position information, the infrared distance measuring sensor 20 emits infrared rays and receives analog signals of the infrared rays, after the analog signals are converted into digital signals, the system performs mathematical program calculation according to physical characteristics of light and received data, and finally the distance between the ultrasonic probe 50 and the part to be scanned is measured.
Step S300, determining the attaching state between the ultrasonic probe 50 and the part to be scanned according to the distance to obtain the posture of the ultrasonic probe 50, and adjusting the motion state of the ultrasonic probe 50.
Finally, the system performs logical judgment according to the obtained distance data and an algorithm to determine the attaching state between the ultrasonic probe 50 and the part to be scanned, meanwhile, the pressure sensor 30 arranged on the ultrasonic probe 50 also detects the pressure between the ultrasonic probe 50 and the part to be scanned in real time, the system performs the logical judgment of the algorithm according to the detected pressure and the attaching state to obtain the posture of the ultrasonic probe 50, and adjusts the motion state of the ultrasonic probe 50 according to the judgment result algorithm, thereby adjusting the posture of the ultrasonic probe 50.
In one implementation, the step S300 specifically includes the following steps:
s301, determining the attaching state between the ultrasonic probe 50 and the part to be scanned according to the distance;
s302, acquiring pressure data of the ultrasonic probe 50 according to the attaching state, wherein the pressure data is obtained based on a pressure sensor 30 arranged on the ultrasonic probe 50;
and S303, obtaining the posture of the ultrasonic probe 50 according to the pressure data, and adjusting the posture of the ultrasonic probe 50.
In specific implementation, after the system acquires the distance data obtained in the previous stage, the distance data can be logically judged according to an algorithm, the attachment state between the ultrasonic probe 50 and the part to be scanned is determined according to the judgment result, the pressure data of the ultrasonic probe 50 is acquired in an auxiliary manner according to the attachment state and the detection pressure of the pressure sensor 30 arranged on the ultrasonic probe 50, as shown in fig. 1 and 2, 2 pressure sensors 30 are arranged, the posture of the ultrasonic probe 50 can be obtained according to the pressure data, the system continuously performs logical judgment on the posture by a subsequent algorithm and controls a mechanical arm, the mechanical arm moves according to an algorithm track, so that the ultrasonic probe 50 on the mechanical arm is driven to move to adjust the posture of the ultrasonic probe 50, the ultrasonic probe 50 and the part to be scanned cannot be attached too loosely or too tightly, even in the whole scanning dynamic moving process, the ultrasonic probe 50 can be adjusted in a self-adaptive manner, and is attached to the part to be scanned in an optimal posture, so that the ultrasonic scanning imaging quality is improved, and adverse reactions of patients cannot be caused.
To sum up, the utility model discloses an installation structure light camera on ultrasonic probe 50, infrared distance measuring sensor 20 and pressure sensor 30 make the common cooperation of each sensor obtain ultrasonic probe 50 and treat the positional information at scanning position, distance and laminating state carry out logic judgement and control ultrasonic probe 50 and carry out corresponding motion state adjustment according to the data that obtain to ultrasonic probe 50 can not laminate and treat that the scanning position is too tight or exert pressure too big, improved ultrasonic scanning imaging quality and can not arouse patient's adverse reaction.
To sum up, the utility model discloses an ultrasonic probe's gesture monitoring device, the device includes: an ultrasonic probe; a structured light camera disposed on the ultrasound probe; an infrared distance measuring sensor arranged on the ultrasonic probe; the structured light camera is fixed with the ultrasonic probe and is used for acquiring an image of a region to be scanned; the infrared distance measuring sensor is used for measuring the distance between the ultrasonic probe and the part to be scanned. The utility model discloses a mounting structure light camera and infrared distance measuring sensor on ultrasonic probe makes the common cooperation of each sensor obtain ultrasonic probe and the positional information who treats the scanning position, and distance and laminating state carry out logic judgement and control ultrasonic probe and carry out corresponding motion state adjustment according to the data that obtain to ultrasonic probe can not laminate and treat that the scanning position is too tight or exert pressure too big, has improved ultrasonic scanning imaging quality and can not arouse patient's adverse reaction.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its responsive aspects.
Claims (7)
1. An attitude monitoring apparatus of an ultrasonic probe, characterized in that the apparatus comprises: an ultrasonic probe; a structured light camera disposed on the ultrasound probe; an infrared distance measuring sensor arranged on the ultrasonic probe; the structured light camera is fixed with the ultrasonic probe and is used for acquiring an image of a region to be scanned; the infrared distance measuring sensor is used for measuring the distance between the ultrasonic probe and the part to be scanned.
2. The apparatus for monitoring the posture of an ultrasonic probe according to claim 1, wherein four infrared distance measuring sensors are provided.
3. The apparatus according to claim 2, wherein the infrared distance measuring sensors are arranged on the ultrasonic probe in a centrosymmetric manner.
4. The apparatus for monitoring the posture of an ultrasonic probe according to claim 1, wherein a pressure sensor is further provided on the ultrasonic probe, and the pressure sensor is used for acquiring pressure data of the ultrasonic probe between the scanning and the part to be scanned.
5. The apparatus for monitoring the posture of an ultrasonic probe according to claim 4, wherein the pressure sensor is provided in two.
6. The apparatus according to claim 5, wherein the pressure sensors are provided at both ends of the ultrasonic probe.
7. The apparatus according to claim 4, wherein the ultrasonic probe is further connected to a robot arm, and the robot arm is connected to the pressure sensor and the infrared distance sensor, so as to control the robot arm to adjust the attitude of the ultrasonic probe by the feedback of the pressure sensor and the infrared distance sensor.
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| CN112472133A (en) * | 2020-12-22 | 2021-03-12 | 深圳市德力凯医疗设备股份有限公司 | Posture monitoring method and device for ultrasonic probe |
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| CN112472133A (en) * | 2020-12-22 | 2021-03-12 | 深圳市德力凯医疗设备股份有限公司 | Posture monitoring method and device for ultrasonic probe |
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