KR20200117522A - Shape restoration device and method using ultrasonic probe - Google Patents

Abstract

A shape reconstruction device using an ultrasonic probe according to the present invention comprises: a main body in which a rail for guiding movement in one direction is installed; an arc-shaped rotation guide having a circumference which extends along a circular trajectory contacting the main body, and having one end connected to the main body so as to move along the rail, and the other end perpendicular to the one direction; a probe unit which moves along the rotation guide, changes in position from one point of the rotation guide along an arbitrary extension line connected to a pivot point of the rotation guide, and captures an ultrasonic image of a subject to be photographed; an orientation-bearing measurement unit which plots the movement of the probe unit as coordinates with respect to the pivot point; a position sensor which plots the coordinates, with respect to the one direction, of the point at which the rotation guide and the main body are connected; and a control unit which forwards coordinate calculation commands to the orientation-bearing measurement unit and the position sensor when the probe unit captures the image, matches the image acquired by the probe unit and the information plotted as coordinates in the orientation-bearing measurement unit and the position sensor, and reconstructs the shape of the subject to be photographed. According to the present invention, the shape of the subject to be photographed can be confirmed in three dimensions without risk of exposure to radiation.

Description

Shape restoration device and shape restoration method using ultrasonic probe {SHAPE RESTORATION DEVICE AND METHOD USING ULTRASONIC PROBE}

The present invention relates to a path guidance device and a path guidance method using an ultrasonic probe, and more particularly, a path guidance device and path guidance using an ultrasonic probe capable of confirming a three-dimensional shape by photographing an object through an ultrasonic diagnostic device. It's about how.

Simple imaging, based on the fact that the internal structure of the human body can be seen by passing X-rays through the human body, has contributed to the field of diagnosis and treatment in the field of radiology as the only technique that can obtain images of the human body for about 50 years. Simple photographing is literally photographing a human body using X-rays without using a contrast medium or equipment, and photographing before and after, as well as side or diagonal photographing as necessary. Commonly referred to as chest photo, bone photo, such as simple chest, simple abdominal, simple skeleton, simple sinus, simple neck soft tissue, and breast.

However, during X-ray imaging, the patient and medical staff may be exposed to radiation even if they wear radiation shielding clothing, and there is a problem in that exposure cannot be avoided when imaging is performed using X-rays during surgery or procedures.

Korean Patent Registration No. 10-1253115

The technical problem of the present invention was conceived in this respect, and an object of the present invention is to provide a path guidance device and a path guidance method using an ultrasonic probe capable of confirming the shape of an object to be photographed in three dimensions without the risk of radiation exposure. have.

A shape restoration apparatus using an ultrasonic probe according to an embodiment of the present invention includes a main body provided with a rail for guiding movement in one direction; An arc-shaped rotation guide having one end connected to the main body so as to move along the rail, the other end being perpendicular to the one direction and extending along a trajectory shape of a circle in contact with the main body; A probe unit moving along the rotation guide and changing a position along an arbitrary extension line connected to a centripetal point of the rotation guide at a point of the rotation guide to take an ultrasound image of an object being inspected; A posture orientation measuring unit that coordinates the movement of the probe unit based on the centripetal point; A position sensor that coordinates a point at which the rotation guide and the main body are connected based on the one direction; And transmitting a coordinate calculation command to the posture orientation measurement unit and the position sensor when the probe unit captures an image, and correlating the image acquired by the probe unit with information coordinated by the posture orientation measurement unit and the position sensor. It includes; a control unit for restoring the shape of the object to be photographed.

In addition, the attitude direction measuring unit may include at least two Attitude Heading Reference Systems (AHRSs) that are compatible with each other to measure the attitude and orientation of the probe unit.

In addition, the probe unit may include an ultrasonic probe for photographing an image of the object to be photographed; A fixed module connecting the ultrasonic probe to the rotation guide; And a ball joint that contacts the ultrasonic probe and guides the three-axis rotational motion of the ultrasonic probe based on a central point.

In addition, a shape restoration apparatus using an ultrasonic probe according to an embodiment of the present invention may further include a display unit that outputs a shape of an object to be photographed restored by the control unit in the form of a 3D image.

In addition, when the object to be photographed is photographed while the ultrasonic probe is fixed, the ball joint may be locked to limit movement of the ultrasonic probe.

In addition, the control unit compares information scanned around a plurality of photographing areas photographed by the ultrasonic probe while the ball joint is locked under different conditions, and when matching information is confirmed, the shape of the object to be photographed is synthesized. can do.

In addition, a shape restoration apparatus using an ultrasonic probe according to an exemplary embodiment of the present invention may further include an input unit for inputting information on an object to be photographed.

In addition, a method for restoring a shape using an ultrasonic probe according to an embodiment of the present invention includes: a photographing preparation step of setting photographing conditions according to a position of an object to be photographed; A subject photographing step of photographing a subject to be photographed through an ultrasonic probe under photographing conditions set in the photographing preparation step; An information matching step of obtaining a coordinated image by matching photographing condition information set in the photographing preparation step with image information photographed in the target photographing step; And obtaining a plurality of coordinated images by repeatedly performing the shooting preparation step or the information matching step in a state in which the shooting conditions are changed, and recovering the shape of the subject to be photographed by synthesizing the plurality of coordinated images. It includes; shape restoration step.

In addition, in the preparation for photographing, the arc-shaped rotation guide is fixed to a region of the main body arranged along the longitudinal direction of the subject to be photographed, and an arbitrary extension line connected to the centripetal point of the rotation guide at a point of the rotation guide The position of the ultrasonic probe may be set according to the following.

In addition, in the photographing of the target, the surrounding information may be obtained by scanning the periphery of the photographing area photographed by the ultrasonic probe.

In addition, the information matching step includes coordinate information of a point at which the rotation guide is fixed to the body and information obtained by measuring the attitude and orientation of the ultrasonic probe using at least two Attitude Heading Reference Systems (AHRS) It can be matched with image information captured in the photographing step.

In addition, in the shape restoration step, when matching information is confirmed by comparing a plurality of scanned surrounding information by repeatedly performing the subject photographing step, the shape of the subject to be photographed may be restored.

In addition, in the preparing for photographing, the photographing condition may be set based on information input with respect to the subject to be photographed.

In addition, in the shape restoration step, the shape of the object to be photographed, which is reconstructed by synthesizing the plurality of coordinated images, may be output in the form of a 3D image.

The shape restoration apparatus using the ultrasonic probe according to the present invention excludes radiation exposure during orthopedic surgery, such as fracture and bone tumor surgery, so that the safety of the medical staff during surgery may be improved.

In addition, the shape restoration method using the ultrasonic probe according to the present invention recognizes the posture and position of the ultrasonic probe and the fixed module in real time through a plurality of variables, and captures an image to be photographed based on this, thereby obtaining an image in real time. By collecting the 3D shape, it is possible to easily set the path for inserting the medical device during surgery.

1 is a perspective view of a shape restoration apparatus using an ultrasonic probe according to an embodiment of the present invention.
2 and 3 are cross-sectional views of a shape restoration apparatus using the ultrasonic probe of FIG. 1.
4 and 5 are diagrams for describing a process of calculating a posture and a position of a probe in the shape restoration apparatus using the ultrasonic probe of FIG. 1.
6 is a flowchart of a shape restoration method using an ultrasonic probe according to an embodiment of the present invention.

For a detailed description of the present invention to be described later, reference is made to the accompanying drawings, which illustrate specific embodiments in which the present invention may be practiced. These embodiments are described in detail sufficient to enable a person skilled in the art to practice the present invention. It should be understood that the various embodiments of the present invention are different from each other, but need not be mutually exclusive. For example, specific shapes, structures, and characteristics described herein may be implemented in other embodiments without departing from the spirit and scope of the present invention in relation to one embodiment. In addition, it is to be understood that the location or arrangement of individual components in each disclosed embodiment may be changed without departing from the spirit and scope of the present invention. Accordingly, the detailed description to be described below is not intended to be taken in a limiting sense, and the scope of the present invention, if appropriately described, is limited only by the appended claims, along with all scopes equivalent to those claimed by the claims. Like reference numerals in the drawings refer to the same or similar functions over several aspects.

Hereinafter, preferred embodiments of the present invention will be described in more detail with reference to the drawings.

The shape restoration apparatus using the ultrasonic probe according to the present invention excludes radiation exposure during orthopedic surgery, such as fracture and bone tumor surgery, so that the safety of the medical staff during surgery may be improved.

1 is a perspective view of a shape restoration apparatus using an ultrasonic probe according to an embodiment of the present invention, and FIGS. 2 and 3 are cross-sectional views of a shape restoration apparatus using the ultrasonic probe of FIG. 1.

1 to 3, a shape restoration apparatus 1 (hereinafter, a shape restoration apparatus) using an ultrasonic probe according to an embodiment of the present invention includes a main body 11, a rotation guide 12, and a probe unit 13 , A posture orientation measurement unit 14, a position sensor 15, and a control unit 16 may be included, and a display unit (not shown) and an input unit (not shown) may be further included.

The main body 11 may be provided with a rail 111 that guides movement in one direction. The main body 11 may be set in one direction in the longitudinal direction and the horizontal direction of the calibration model 9, and a rail 111 that guides movement in one direction is installed to induce the movement of the rotation guide 12. I can. A position sensor 15 may be connected to one end of the main body 11. The body 11 is provided longer than the calibration model 9 so that the rotation guide 12 can move the entire area of the calibration model 9.

On the other hand, the calibration model 9 is manufactured based on predetermined location information, and can be used for initialization and correction of a shape restoration device photographed through the probe unit 13. In detail, the range of motion of the rotation guide 12, the probe unit 13, or the posture orientation measurement unit 14 may be expressed based on the calibration model 9. Contents related to the motion range of each component will be described in detail with reference to FIGS. 2 to 5 below.

The rotation guide 12 may be connected to the main body 11 so that one end moves along the rail 111. The rotation guide 12 may have an arc shape in which the other end is orthogonal to one direction and the circumference of the rotation guide 12 extends along a trajectory shape of a circle in contact with the main body 11. The rotation guide 12 may move along one direction through the rail 111 of the main body 11 in order to photograph the subject T accommodated in the calibration model 9. The position where the rotation guide 12 is stopped may be sensed through the position sensor 15. In addition, the rotation guide 12 has a rail formed along the circumferential direction, so that the movement of the probe unit 13 can be guided.

The probe unit 13 may move along the rotation guide 12. The probe unit 13 may be positioned at a point of the rotation guide 12 along an arbitrary extension line connected to the centripetal point of the rotation guide 12 to take an ultrasound image of the object T to be photographed. After stopping at a point of the rotation guide 12, the probe unit 13 may move in a direction away from the centripetal point or along an arbitrary extension line. The movement of the probe unit 13 moving along the extension line may be measured and coordinated through the position sensor 15.

The probe unit 13 may further include an ultrasonic probe 131, a fixing module 133, and a ball joint 135. The ultrasound probe 131 may capture an image of the target T. In detail, the ultrasonic probe 131 may be provided in the form of an ultrasonic imaging device for photographing an image. As such, the ultrasonic probe 131 is a component for restoring the shape of the object to be photographed T while preventing radiation exposure in the present invention. The ultrasonic probe 131 may be coupled to the rotation guide 12 to move, and may photograph the object T to be photographed from a fixed position. When an object is photographed by the ultrasonic probe 131, information such as the position, angle, and posture of the ultrasonic probe 131 may be sensed through the position sensor 15 and the posture orientation measuring unit 14.

Meanwhile, the ultrasonic probe 131 may change its position along an arbitrary extension line connected to the centripetal point of the rotation guide 12, and at this time, it may move from the rotation guide 12 through the fixing module 133.

The fixing module 133 may connect the ultrasonic probe 131 to the rotation guide 12. The fixing module 133 may move closer to or away from the centripetal direction while the ultrasonic probe 131 is connected to the rotation guide 12. That is, a first motion in which the rotation guide 12 moves through the rail 111 of the main body 11, and a second motion in which the probe unit 13 moves through the rotation guide 12, and the rotation guide 12 A third motion in which the ultrasonic probe 131 and the fixing module 133 move along an arbitrary extension line connected to the centripetal point in the fixed state may be divided. The position of the ultrasonic probe 131 changed through the first to third movements may be coordinated through a reference set in the position sensor 15, and the related description will be described in detail with reference to FIGS. 4 and 5.

The ball joint 135 may contact the ultrasonic probe 131. The ball joint 135 may guide the three-axis rotational movement of the ultrasonic probe 131 based on the center point. In this way, the photographing conditions of the ultrasonic probe 131 can be finely adjusted. In detail, the ball joint 135 photographs the object T while the ultrasonic probe 131 is fixed, and then shows the photographing posture of the ultrasonic probe 131 as shown in FIG. 2 in order to scan the periphery of the photographing area. It can be rotated in the three-axis direction together.

In addition, the ball joint 135 may be locked to limit the movement of the ultrasonic probe 131 when the object T is photographed while the ultrasonic probe is fixed. In this case, the locking means a state in which rotation of the ball joint 135 is limited by itself, and through this, the 3-axis rotational motion of the ultrasonic probe 131 may be limited.

Meanwhile, a movement of the ultrasonic probe 131 finely controlled through the ball joint 135 may be defined as a fourth movement. The photographing conditions of the ultrasonic probe 131 finely adjusted through the ball joint 135 may be measured and stored through the posture orientation measuring unit 14.

The posture orientation measurement unit 14 may coordinate the movement of the probe unit 13 based on a centripetal point. The posture orientation measuring unit 14 may measure and coordinate the posture and position of the ultrasonic probe 131 finely adjusted through the fourth motion generated by the motion of the ball joint 135. The posture orientation measurement unit 14 may include at least two Attitude Heading Reference Systems (AHRS) that are interchangeable and measure the posture and orientation of the probe unit 13. As an example, the posture orientation measuring unit 14 may include a first measuring device 141 (FIG. 5) and a second measuring device 143 (FIG. 5) different in a position where the AHRS is arranged and a measured physical quantity. A description of the first measuring device and the second measuring device of the posture orientation measuring unit 14 will be described in detail with reference to FIG. 5.

The position sensor 15 may coordinate a point at which the rotation guide 12 and the main body 11 are connected based on one direction. The position sensor 15 may coordinate a point where the rotation guide 12 stops. The position sensor 15 may coordinate the position of the probe unit 13 moving along the rotation guide 12. The position sensor 15 may coordinate the position of the ultrasonic probe 131 moving along an arbitrary line connected to the centripetal point of the rotation guide 12 through the fixing module 133. That is, the position sensor 15 may coordinate the position of the ultrasonic probe 131 moved by the first motion, the second motion, and the third motion.

The control unit 16 may transmit a command for calculating coordinates to the posture orientation measurement unit 14 and the position sensor 15 when the probe unit 13 captures an image. The controller 16 may restore the shape of the object T to be photographed by matching the image acquired by the probe unit 13 with information coordinated by the posture orientation measuring unit 14 and the position sensor 15. The controller 16 may control the ball joint 135 to capture a plurality of photographing areas by the ultrasonic probe 131 in a locked state under different conditions. That is, the control unit 16 can compare information scanned around a plurality of photographing areas photographed through the ultrasonic probe 131 at different photographing angles due to the locking/rotation of the ball joint 135, among which the matching When the information is confirmed, the shape of the object to be photographed T can be synthesized.

The display unit may output the shape of the target T restored by the controller 16 in the form of a 3D image. The shape of the object to be photographed T can be checked in real time through the image output from the display unit. In addition, by accumulating and storing images output from the display unit, a change in the shape of the object T to be photographed may be tracked.

The input unit may input information on the subject T to be photographed. The input unit may input the size, volume, size, and the like of the object to be photographed T accommodated in the calibration model 9. Shooting settings of the rotation guide 12 and the probe unit 13 may be flexibly changed based on information input through the input unit.

Meanwhile, the shape restoration apparatus 1 according to an embodiment of the present invention may output not only an image restored by the control unit 16 but also an image captured through the probe unit 11 in real time through the display unit. That is, by outputting an image captured in real time, it is possible to easily check the path of the medical device invading the target T.

4 and 5 are diagrams for describing a process of calculating a posture and a position of a probe in the shape restoration apparatus using the ultrasonic probe of FIG. 1.

4 and 5, three axes were designated as the X-axis, Y-axis and Z-axis, and variables were set accordingly. The Z axis is an axis set in a direction corresponding to the one direction in which the rails of the main body 11 are arranged, the Y axis is an axis vertically set to the Z axis and set in the height direction, and the X axis is perpendicular to the Y axis and the Z axis and set in a horizontal direction. It is defined as an axis. At this time, the fixing module 133 may be determined dependently on the positions of the rotation guide 12 and the ball joint 135, but the posture of the fixing module 133 is independently set and is based on the center of the ball joint 135. Posture and position can be measured.

Meanwhile, each reference numeral in FIGS. 4 and 5 will be described in detail. r is the outer radius of the rotation guide 12 and may be designated as a constant value according to the standard of the designed rotation guide 12. A denotes a moving distance that the rotation guide 12 moves along the rail 111 along the Z axis, and a value can be measured using the position sensor 15 as a zero point. b denotes the distance the probe unit 13 has moved along the centripetal point from the outer diameter of the rotation guide 12. c is the length obtained by subtracting the b value from the r value, and can be defined as the height in the X-Z plane. d is the distance from the position (O') where the rotation guide 12 is moved by a from the origin (O) to the center of the ball joint 135, and e is the probe part 13 from the center of the ball joint 135 Is the distance to the center of. d and e are dependent on the specification of the device being provided and are provided as constant values that do not change. In particular, e used in the drawings and the following [Equation 1] is independent of the natural constant e (approximate value 2.718) and can be understood as a constant value dependent on the standard of the provided device. θ is a rotation value about the axis of the first measuring device 141 aligned in the same direction as the Z axis of the reference point (point O).

5, the position of the ball joint 135 is defined as (c*cos(θ), c*sin(θ), (ad)). In addition, the posture of the fixed module 133 and the ultrasonic probe 131 is defined as Q _p , which may be calculated by a product of Q _o and Q _l . Q _o is the quaternion of the second measuring device 143 measured at the initial position, and calibration for the magnetic north direction may be required. In addition, Q _l is a quadratic number of the second measuring device 143 measured according to the movement of the ultrasonic probe 131. Meanwhile, the position of the fixed module 133 can be calculated through [Equation 1] below.

In summary, the first motion means that the rotation guide 12 moves based on the Z axis of FIGS. 4 and 5, and the second motion means that the position of the probe unit 13 along the rotation guide 12 is at θ. It refers to a movement that changes depending on the function, and the third movement is a movement that moves along an arbitrary virtual line connecting the probe unit 13 and the centripetal point O while the probe unit 13 is fixed to the rotation guide 12 Means. In addition, the fourth movement means that the posture and position of the probe unit 13 in a state completed until the third movement is changed by the rotation of the ball joint 135. As described above, the shape restoration apparatus 1 according to an embodiment of the present invention divides the movement of the probe unit 13 into the first to fourth movements, and records coordinate information by independently storing the position and posture according to each movement. can do.

In detail, the position of the ultrasonic probe 131 that is set according to the results of the first to fourth movements may be coordinated by the position sensor 15 and the posture orientation measuring unit 14. In detail, the position sensor 15 measures and coordinates the position at which the rotation guide 12 stops by the first movement, and the probe unit 13 determines the centripetal point by the third movement. It may include a second position sensor 153 that measures and coordinates the moved position. Image information captured by the ultrasonic probe 131 at a position fixed by the first to fourth movements, and coordinate information at which the probe unit 13 is fixed according to the result of each movement can be synthesized through the control unit 16. Through this, image information having coordinate information may be calculated. The control unit 16 may restore the three-dimensional shape of the object T to be photographed based on image information having coordinate information and scanning information surrounding the photographing area through the fine motion of the ball joint 135.

As described above, the shape restoration apparatus 1 using the ultrasonic probe according to the present invention may restore the three-dimensional shape of the object T to be photographed by synthesizing images obtained according to the position and posture of the ultrasonic probe 131. .

Hereinafter, a method for reconstructing a shape using an ultrasonic probe according to an embodiment of the present invention will be described. In the following description, overlapping parts related to the configuration and characteristics of the shape restoration apparatus using the ultrasonic probe will be omitted, and a description of the shape restoration method using the ultrasonic probe will be additionally described.

6 is a flowchart of a shape restoration method using an ultrasonic probe according to an embodiment of the present invention.

Referring to FIG. 6, a method for restoring a shape using an ultrasonic probe according to an embodiment of the present invention includes a preparation for photographing (S1), a photographing of an object (S3), an information matching step (S5), and a shape restoration step (S7). Includes.

In the photographing preparation step S1, photographing conditions may be set according to the position of the subject to be photographed. In the photographing preparation step (S1), an arc-shaped rotation guide may be fixed to a region of the main body disposed along the length direction of the subject to be photographed. In the photographing preparation step (S1), the position of the ultrasound probe may be set along an arbitrary extension line connected to the centripetal point of the rotation guide at a point of the rotation guide. In the photographing preparation step (S1), photographing conditions may be set based on information input on the subject to be photographed.

In the subject photographing step S3, the subject to be photographed may be photographed through the ultrasound probe under the photographing conditions set in the photographing preparation step S1. In the target photographing step S3, the photographed image information may be stored. In the target photographing step (S3), surrounding information may be obtained by scanning the periphery of the photographing region photographed by the ultrasonic probe.

In the information matching step S5, the coordinated image may be obtained by matching the photographing condition information set in the photographing preparation step S1 with the image information photographed in the target photographing step S3. In the information matching step (S5), the information obtained by measuring the posture and orientation of the ultrasonic probe using at least two AHRSs and coordinate information of a point where the rotation guide is fixed to the main body is obtained from the image information captured in the target photographing step (S3). You can match.

In the shape restoration step S7, a plurality of coordinated images may be obtained by repeatedly performing the shooting preparation step S1 to the information matching step S5 in a state in which the shooting conditions are changed. In the shape restoration step S7, the shape of the object to be photographed may be restored by synthesizing a plurality of coordinated images. In the shape restoration step S7, the object photographing step S3 is repeatedly performed to compare a plurality of scanned surrounding information, and when matching information is confirmed, the shape of the subject to be photographed may be restored. In the shape restoration step S7, a shape of a subject to be photographed, which is reconstructed by synthesizing a plurality of coordinated images, may be output in the form of a 3D image. In addition, in the shape restoration step S7, a plurality of 3D images accumulated and stored with respect to the same subject to be photographed may be compared to determine a part in which changes are accumulated during a specific period.

As described above, in the shape restoration method using the ultrasonic probe according to the present invention, the posture and position of the ultrasonic probe and the fixed module are identified in real time through a plurality of variables, and based on this, the subject to be photographed is photographed to obtain an image. By collecting the three-dimensional shape, it is possible to easily set the path for inserting the medical device during surgery, and by comparing the accumulated and stored image data, it is possible to easily identify the deformed part of the object to be photographed for a certain period of time.

Although the present invention has been described in detail through representative embodiments above, those of ordinary skill in the art to which the present invention pertains will understand that various modifications can be made to the above-described embodiments without departing from the scope of the present invention. will be. Therefore, the scope of the present invention is limited to the described embodiments and should not be determined, and should be determined by all changes or modifications derived from the claims and the concept of equality as well as the claims to be described later.

1: shape restoration device
11: main body
111: rail
12: rotation guide
13: probe part
131: ultrasonic probe
133: fixed module
135: ball joint
14: posture orientation measurement unit
141: first measuring device
143: second measuring device
15: position sensor
151: first position sensor
153: second position sensor
16: control unit
9: calibration model
T: Subject to be photographed

Claims (14)

A main body provided with a rail that guides movement in one direction;
An arc-shaped rotation guide having one end connected to the main body so as to move along the rail, the other end being perpendicular to the one direction and extending along a trajectory shape of a circle in contact with the main body;
A probe unit moving along the rotation guide and changing a position along an arbitrary extension line connected to a centripetal point of the rotation guide at a point of the rotation guide to take an ultrasound image of an object being inspected;
A posture orientation measuring unit that coordinates the movement of the probe unit based on the centripetal point;
A position sensor that coordinates a point at which the rotation guide and the main body are connected based on the one direction; And
When the probe unit captures an image, it transmits a command for calculating coordinates to the posture orientation measurement unit and the position sensor, and correlates the image acquired by the probe unit with the information coordinated by the posture azimuth measurement unit and the position sensor. Containing, a shape restoration apparatus using an ultrasonic probe.
The method of claim 1,
The posture orientation measuring unit,
A shape restoration apparatus using an ultrasonic probe including at least two Attitude Heading Reference Systems (AHRS) that are mutually compatible and measure the attitude and orientation of the probe unit.
The method of claim 1,
The probe unit,
An ultrasonic probe for photographing an image of the subject to be photographed;
A fixed module connecting the ultrasonic probe to the rotation guide; And
A ball joint contacting the ultrasonic probe and guiding the three-axis rotational motion of the ultrasonic probe based on a central point.
The method of claim 1,
A display unit for outputting the shape of the object to be photographed restored by the control unit in the form of a 3D image.
The method of claim 3,
The ball joint,
When the object to be photographed is photographed while the ultrasonic probe is fixed, the shape restoration apparatus using the ultrasonic probe is locked to limit the movement of the ultrasonic probe.
The method of claim 5,
The control unit,
The ball joint is locked under different conditions, and the ultrasound probe is used to synthesize the shape of the object to be photographed when the matching information is confirmed by comparing the information scanned around the plurality of photographing areas photographed by the ultrasonic probe. One shape restoration device.
The method of claim 1,
An apparatus for reconstructing a shape using an ultrasonic probe further comprising an input unit for inputting information on the subject to be photographed.
A photographing preparation step of setting photographing conditions according to the position of the subject to be photographed;
A subject photographing step of photographing a subject to be photographed through an ultrasonic probe under photographing conditions set in the photographing preparation step;
An information matching step of obtaining a coordinated image by matching photographing condition information set in the photographing preparation step with image information photographed in the target photographing step; And
A shape in which a plurality of coordinated images is obtained by repeatedly performing the shooting preparation step or the information matching step while the shooting conditions are changed, and the shape of the subject to be photographed is restored by synthesizing the plurality of coordinated images Restoring step; including, shape restoration method using an ultrasonic probe.
The method of claim 8,
The shooting preparation step,
An arc-shaped rotation guide is fixed to an area of the main body arranged along the longitudinal direction of the object to be photographed, and the position of the ultrasound probe is positioned along an arbitrary extension line connected to the centripetal point of the rotation guide at a point of the rotation guide. Setting, shape restoration method using ultrasonic probe.
The method of claim 8,
The target photographing step,
A shape restoration method using an ultrasonic probe in which the ultrasonic probe scans the periphery of a photographed area to obtain peripheral information.
The method of claim 9,
The information matching step,
The information obtained by measuring the posture and orientation of the ultrasound probe using at least two Attitude Heading Reference Systems (AHRS) and coordinate information of a point where the rotation guide is fixed to the main body, and image information captured in the target photographing step Matching, shape restoration method using an ultrasonic probe.
The method of claim 10,
The shape restoration step,
A method of reconstructing a shape using an ultrasonic probe, in which the object photographing step is repeatedly performed to compare a plurality of scanned surrounding information to restore the shape of the object to be photographed when matching information is confirmed.
The method of claim 8,
The shooting preparation step,
A shape restoration method using an ultrasonic probe for setting the photographing conditions based on information input with respect to the subject to be photographed.
The method of claim 8,
The shape restoration step,
A shape restoration method using an ultrasonic probe for outputting a shape of the object to be photographed in the form of a 3D image by synthesizing and reconstructing the plurality of coordinated images.

Images