WO2017035902A1 - 一种无线智能超声胎儿成像系统 - Google Patents

一种无线智能超声胎儿成像系统 Download PDF

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Publication number
WO2017035902A1
WO2017035902A1 PCT/CN2015/091443 CN2015091443W WO2017035902A1 WO 2017035902 A1 WO2017035902 A1 WO 2017035902A1 CN 2015091443 W CN2015091443 W CN 2015091443W WO 2017035902 A1 WO2017035902 A1 WO 2017035902A1
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module
ultrasonic
ultrasonic transducer
imaging system
zynq
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PCT/CN2015/091443
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English (en)
French (fr)
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屠友冲
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宁波友昌超声波科技有限公司
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/52—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/5207—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of raw data to produce diagnostic data, e.g. for generating an image
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
    • A61B8/0866—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving foetal diagnosis; pre-natal or peri-natal diagnosis of the baby
    • 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
    • A61B8/4472—Wireless probes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/56—Details of data transmission or power supply
    • A61B8/565—Details of data transmission or power supply involving data transmission via a network
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/42—Details of probe positioning or probe attachment to the patient
    • A61B8/4245—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient
    • A61B8/4254—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient using sensors mounted on the probe
    • 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
    • A61B8/4483—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device characterised by features of the ultrasound transducer
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/46—Ultrasonic, sonic or infrasonic diagnostic devices with special arrangements for interfacing with the operator or the patient
    • A61B8/461—Displaying means of special interest

Definitions

  • the present invention relates to an ultrasound imaging system, and more particularly to a wireless intelligent ultrasound fetal imaging system formed in conjunction with a mobile terminal.
  • Conventional ultrasound imaging systems typically include a probe, a host, and a display unit, while these components are connected by cables and transmit data information.
  • the whole system is huge and it is inconvenient to move and carry.
  • the invention designs a wireless intelligent ultrasonic fetal imaging system, and the technical problem solved by the invention is that the traditional ultrasonic imaging system has a large inconvenient movement and a professional requirement of the user. High and high technical difficulties in obtaining high levels of fetal three-dimensional, four-dimensional images.
  • the present invention adopts the following scheme:
  • a wireless intelligent ultrasound fetal imaging system comprising:
  • An ultrasonic transducer that transmits ultrasound waves to a fetus in a pregnant woman's belly and receives echoes
  • An ultrasonic AFE module that performs ultrasonic digital transmission and echo signal reception processing by the ultrasonic transducer and digitizes
  • a ZYNQ module which performs image processing on the echo signal digitized by the ultrasonic AFE module, sends the processed image to the machine vision module for identification, and integrates the recognition result with the ultrasonic transducer deflection angle data to pass
  • the wireless transmission module sends to the mobile terminal;
  • the machine vision module realizes the comparison and recognition of real-time image and image features, finds the correct image information, does not perform image integration or processing, and finally completes the tracking and recognition of three-dimensional or four-dimensional images; wherein, “real-time image and image feature are compared
  • the principle of "identification" is: the image feature is an abstract image feature information modeling database, and the machine vision module compares the real-time image with the image feature information database to find a real-time image matched by the system, and the image is an effective image.
  • a mobile terminal which controls the ZYNQ module and processes the data integrated by the ZYNQ module and displays through the display screen, and the data is analyzed and shared between the mobile terminal and the cloud data center server;
  • a wireless transmission module that implements data transmission between the mobile terminal and the ZYNQ module.
  • the ultrasonic transducer is connected to a motion sensor, the ultrasonic transducer is displaced by a driving device, and the motion sensor obtains the ultrasonic transducer deflection angle data as image frame additional information, and sends the image to the ZYNQ Module processing.
  • the ultrasound transducer comprises a plurality of transducer units or a two-dimensional array.
  • the driving device includes a transmission mechanism and a stepping motor module, and the transmission mechanism is connected between the stepping motor in the stepping motor module and the ultrasonic transducer, and the ZYNQ module controls the stepping motor module to start And stop.
  • the ultrasonic AFE module includes a T/R switch, a controllable gain amplifier, an analog to digital converter, a receive beamformer, a high voltage MOSFET, and a transmit beamformer; the ultrasonic AFE module transmit signal is generated by a transmit beamformer, The high-voltage MOSFET is driven to emit a high-voltage signal, and the ultrasonic transducer is excited by the T/R switch; after the completion of the transmission, the ultrasonic transducer enters the receiving period, and the echo signal enters the controllable gain amplifier through the T/R switch, and the input mode is input.
  • the digital converter completes the digitization and then enters the receive beamformer to implement the digital beam signal.
  • the ZYNQ module includes a CPU processor and an FPGA processor, and data exchange is possible between the two; wherein the FPGA processor instructs the transmit beamformer to transmit a signal and process the receive beamformer output a digital beam signal, the FPGA processor is further coupled to the machine vision module; the CPU processor is in data exchange with the motion sensor, the stepper motor module, and the wireless transmission module, respectively.
  • the machine vision module includes an FPGA processor and an DDR memory, and an FPGA processor of the machine vision module exchanges data with an FPGA processor of the ZYNQ module; and the processed information of the FPGA processor of the machine vision module Stored in the DDR memory.
  • the wireless standard protocol of the wireless transmission module is WIFI, Wireless USB, 4G or 5G.
  • a power module which provides power for the ultrasonic transducer, the motion sensor, the stepping motor module, the ultrasonic AFE module, the ZYNQ module, and the machine vision processing module; the power module includes a high voltage power supply, a low voltage power generation circuit, and a battery Charge and discharge manager and rechargeable battery.
  • the mobile terminal comprises a smart phone, a PAD or a PC; the mobile terminal runs an APP program to implement data processing and operation control of each module of the wireless intelligent ultrasound fetal imaging system.
  • the invention can realize three-dimensional and four-dimensional imaging of fetal ultrasound quickly and intelligently, has no skill requirement for the operator, realizes hand-held device, and automatically tracks the fetal image intelligence through the machine vision module to realize three-dimensional and four-dimensional imaging, and thus can be set not only in the In the hospital, you can also set up any other place to facilitate the use of consumers.
  • the imaging data and the control parameters in the system of the invention are transmitted wirelessly, the Internet connection support is added, and the interaction of the cloud data center is realized, so that the generation, transmission, analysis and feedback of the fetal image are automatically completed. No need for doctors to participate, greatly improving work efficiency.
  • Figure 1 is a block diagram showing the structure of a wireless intelligent ultrasound fetal imaging system of the present invention.
  • the present invention implements a wireless intelligent ultrasound fetal imaging system, including an ultrasonic transducer, a motion sensor, a stepping motor module, an ultrasonic AFE module, a ZYNQ module, a machine vision processing module, a wireless transmission module, and a power module. (with battery) and cloud data center.
  • a wireless intelligent ultrasound fetal imaging system including an ultrasonic transducer, a motion sensor, a stepping motor module, an ultrasonic AFE module, a ZYNQ module, a machine vision processing module, a wireless transmission module, and a power module. (with battery) and cloud data center.
  • the ultrasonic transducer is connected to the stepping motor module through a transmission mechanism, and can move along with the operation of the stepping motor, and the motion sensor on the ultrasonic transducer can detect the moving state of the ultrasonic transducer.
  • the ultrasonic AFE Analog Front Edn “analog front end” module performs ultrasonic digital transmission and echo signal reception processing and digitization.
  • the ZYNQ module accepts the control of the mobile terminal and performs the overall control and signal processing functions.
  • the machine vision module performs tracking and recognition of the three-dimensional and four-dimensional images, outputs valid data to the ZYNQ module, and transmits the data to the mobile terminal through the wireless transmission module.
  • the mobile terminal further processes the data and displays it on the display screen of the mobile terminal, and the data can be stored in the mobile terminal or stored in the cloud data center, and the data can be analyzed and shared in the cloud.
  • the ultrasonic transducer is connected to a motion sensor, the ultrasonic transducer is displaced by a driving device, and the motion sensor obtains the ultrasonic transducer deflection angle data as image frame additional information, and sends the image to the ZYNQ Module processing.
  • the ultrasound transducer comprises a plurality of transducer units or a two-dimensional array.
  • the driving device comprises a transmission mechanism and a stepping motor module, and the transmission mechanism is connected between the stepping motor module and the ultrasonic transducer, and the ZYNQ module controls the stepping motor module to start and stop.
  • the ultrasonic AFE module includes a T/R switch, a controllable gain amplifier, an analog to digital converter, a receive beamformer, a high voltage MOSFET, and a transmit beamformer; the ultrasonic AFE module transmit signal is generated by a transmit beamformer and driven by a high voltage MOSFET
  • the ultrasonic transducer is excited by the T/R switch; after the completion of the transmission, the ultrasonic transducer enters the receiving period, and the echo signal enters the controllable gain amplifier through the T/R switch, and the input analog-to-digital converter is completed. Digitize and then enter the receive beamformer to implement the digital beam signal.
  • the ZYNQ module includes a CPU processor and an FPGA processor, wherein data exchange is possible between the two; wherein the FPGA processor instructs the transmit beamformer to transmit a signal and process the digital beam signal output by the receive beamformer,
  • the FPGA processor is further coupled to the machine vision module; the CPU processor performs data exchange with the motion sensor, the stepper motor module, and the wireless transmission module, respectively.
  • the machine vision module includes an FPGA processor and DDR memory, the machine The FPGA processor of the vision module exchanges data with the FPGA processor of the ZYNQ module; the processed information of the FPGA processor of the machine vision module is stored in the DDR memory.
  • the wireless standard protocol of the wireless transmission module is WIFI, Wireless USB, 4G or 5G.
  • the system further includes a power module that supplies power to the ultrasonic transducer, the motion sensor, the stepper motor module, the ultrasonic AFE module, the ZYNQ module, and the machine vision processing module; the power module includes a high voltage power supply, a low voltage power generation circuit, and a battery Charge and discharge manager and rechargeable battery.
  • the mobile terminal comprises a smart phone, a PAD or a PC; the mobile terminal runs an APP program, implements data processing and operation control of each module of the wireless intelligent ultrasound fetal imaging system.
  • the working principle of the wireless intelligent ultrasound fetal imaging system of the invention is as follows:
  • Step 1 The mobile terminal transmits control parameters to each module in the wireless intelligent ultrasound fetal imaging system through a wireless communication channel;
  • Step 2 The CPU processor of the ZYNQ module receives the control parameters through the wireless transmission module to perform scanning parameters, and the real-time calculation of the processing parameters is output to the FPGA processor of the ZYNQ module, and the FPGA processor implements the ultrasonic AFE under the control of the control parameters.
  • the ultrasound of the module is used to transmit and receive the pregnant woman;
  • Step 2.1 The transmitting signal is generated by the transmitting beamformer, driven by the high voltage MOSFET as a high voltage transmitting signal, and the ultrasonic transducer is excited by the T/R switch, and the ultrasonic transducer transmits ultrasonic waves to the pregnant woman's fetus; after the completion of the transmission, the ultrasonic transducer is transduced
  • the device enters the receiving period, and the echo signal enters the controllable gain amplifier through the T/R switch, the input analog-to-digital converter completes digitization, and then enters the receiving beamformer to implement the digital beam signal;
  • Step 2.1.1 in order to achieve accurate control of the three-dimensional data, the ultrasonic transducer is connected with the stepping motor, and the CPU processor controls the rotation of the stepping motor according to the control parameter.
  • the moving angle forms one frame of image per deflection unit, and the ultrasonic transducer is mounted on the ultrasonic transducer to accurately obtain the ultrasonic transducer deflection angle data as image frame additional information;
  • Step 3 The digital beam signal enters the FPGA processor of the ZYNQ module for image processing, and the processed image data enters the FPGA processor of the machine vision module for data recognition processing;
  • Step 4 After the processing of the FPGA processor of the machine vision module is completed, the valid data is re-entered into the FPGA processor of the ZYNQ module for integration, input to the CPU processor for processing, and then transmitted to the mobile terminal through the wireless transmission module, and finally displayed on the mobile terminal.
  • the display device On the display device;
  • Step 5 The mobile terminal further transmits the data to the cloud data center to implement data analysis and sharing.

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Abstract

一种无线智能超声胎儿成像系统，包括：超声换能器，向孕妇肚中的胎儿发射超声波并接收回波；超声AFE模块，通过超声换能器完成超声波数字发射以及回波信号接收处理并数字化；ZYNQ模块，对超声AFE模块数字化后的回波信号进行图像处理，将处理后的图像发送至机器视觉模块识别，并将识别结果与超声换能器偏转角度数据进行整合后通过无线传输模块发送至移动终端；机器视觉模块，完成三维或四维图像的跟踪识别；移动终端，控制ZYNQ模块并且对ZYNQ模块整合的数据进行处理并通过显示屏显示，移动终端与云端数据中心服务器之间实现数据的分析及共享；以及无线传输模块。

Description

一种无线智能超声胎儿成像系统 技术领域
本发明涉及一种超声成像系统，尤其是涉及一种配合移动终端形成的无线智能超声胎儿成像系统。
背景技术
传统超声成像系统通常包括探头、主机、显示单元构成，同时这些部件通过电缆连接并传输数据信息。整个系统较为庞大，不便移动及携带。
另外，传统超声成像系统，对于操作人员要求较高，必须经过专业训练，尤其在三维、四维成像方面有着更高的技能要求，并且对于设备性能依赖度非常高，往往要获得较高水平的胎儿三维、四维图像需要非常昂贵成本的超声成像系统。
随着芯片工业技术的发展，摩尔定律持续有效，芯片集成度越来越高，面积越来越小，性能越来越高，功耗越来越小，在技术方面已经可以实现小型化的超声成像设备。同时在机器视觉技术的快速发展，为智能成像尤其智能三维成像提供了技术处理基础。
通讯技术也在迅猛发展，高速、高带宽的无线通讯标准不断提升性能，也为超声成像系统无线化提供了技术基础。
基于以上技术的发展，设计实现一款手持式无线智能超声胎儿三维和四维成像系统成为可能。
发明内容
本发明设计了一种无线智能超声胎儿成像系统，其解决的技术问题是传统超声成像系统存在体积巨大不便移动、使用人员专业性要求 高以及获得较高水平的胎儿三维、四维图像成本昂贵等技术缺陷。
为了解决上述存在的技术问题，本发明采用了以下方案：
一种无线智能超声胎儿成像系统，其特征在于，包括：
超声换能器，其向孕妇肚中胎儿发射超声波并接收回波；
超声AFE模块，其通过所述超声换能器完成超声波数字发射以及回波信号接收处理并数字化；
ZYNQ模块，其对所述超声AFE模块数字化后的回波信号进行图像处理，将处理后的图像发送至机器视觉模块识别，并将识别结果与所述超声换能器偏转角度数据进行整合后通过无线传输模块发送至移动终端；
机器视觉模块，其实现实时图像与图像特征的比对识别，找到正确的图像信息，并不进行图像整合或者处理，最终完成三维或四维图像的跟踪识别；其中，“实时图像与图像特征进行比对识别”原理为：图像特征是抽象的图像特征信息建模数据库，机器视觉模块通过对实时图像与图像特征信息库进行算法比对，找到系统匹配的实时图像，该图像即为有效图像。
移动终端，其控制所述ZYNQ模块并且对所述ZYNQ模块整合的数据进行处理并通过显示屏显示，所述移动终端与云端数据中心服务器之间实现数据的分析及共享；
以及无线传输模块，其实现移动终端与ZYNQ模块之间的数据传输。
进一步，所述超声换能器上连接运动传感器，所述超声换能器通过驱动装置实现位移，所述运动传感器获得所述超声换能器偏转角度数据作为图像帧附加信息，发送至所述ZYNQ模块处理。
进一步，所述超声换能器包括多个换能器单元或者二维阵列。
进一步，所述驱动装置包括传动机构与步进电机模块，传动机构连接在步进电机模块中的步进电机与所述超声换能器之间，所述ZYNQ模块控制所述步进电机模块启动和停止。
进一步，所述超声AFE模块包括T/R开关、可控增益放大器、模数转换器、接收波束形成器、高压MOSFET以及发射波束形成器；所述超声AFE模块发射信号由发射波束形成器产生，通过高压MOSFET驱动为高压发射信号，通过T/R开关激励超声换能器；完成发射后，超声换能器进入接收周期，回波信号通过T/R开关进入可控增益放大器处理后，输入模数转换器完成数字化，然后进入接收波束形成器实现数字波束信号。
进一步，所述ZYNQ模块包括CPU处理器和FPGA处理器，两者之间可进行数据交换；其中，所述FPGA处理器指令所述发射波束形成器发射信号和处理所述接收波束形成器输出的数字波束信号，所述FPGA处理器还与所述机器视觉模块连接；所述CPU处理器分别与所述运动传感器、所述步进电机模块以及所述无线传输模块进行数据交换。
进一步，所述机器视觉模块包括FPGA处理器和DDR存储器，所述机器视觉模块的FPGA处理器与所述ZYNQ模块的FPGA处理器进行数据交换；所述机器视觉模块的FPGA处理器处理后的信息存储在所述DDR存储器中。
进一步，所述无线传输模块的无线标准协议为WIFI、无线USB、4G或5G。
进一步，还包括电源模块，其为超声换能器、运动传感器、步进电机模块、超声AFE模块、ZYNQ模块以及机器视觉处理模块提供电源；所述电源模块包括高压电源、低压电源发生电路、电池充放电管理器以及充电电池。
进一步，所述移动终端包括智能手机、PAD或PC；所述移动终端上运行APP程序，实现数据处理以及对所述无线智能超声胎儿成像系统各模块的运行控制。
该无线智能超声胎儿成像系统与现有超声成像系统相比，具有以下有益效果：
(1)本发明能够快速智能实现胎儿超声三维、四维成像，对操作人员无技能要求，实现设备手持化，并且通过机器视觉模块自动跟踪胎儿影像智能实现三维、四维成像，因而不仅仅可以设置在医院中，也可以设置其他任何场所，方便消费者的使用。
(2)本发明系统中成像数据以及控制参数均通过无线方式进行传输，增加互联网连接支持，实现云端数据中心的交互，使得胎儿图像的生成、传输、分析以及反馈给使用者都是自动完成，无需医生的参与，大大提高了工作效率。
附图说明
图1：本发明无线智能超声胎儿成像系统的结构方框示意图。
具体实施方式
下面结合图1，对本发明做进一步说明：
如图1所示，本发明实现一种无线智能超声胎儿成像系统，包括超声换能器、运动传感器、步进电机模块、超声AFE模块、ZYNQ模块、机器视觉处理模块、无线传输模块、电源模块(含电池)以及云端数据中心。
其中，超声换能器通过传动机构与步进电机模块相连，可随着步进电机的运转进行移动，超声换能器上的运动传感器可以检测超声换能器的移动状态。
超声AFE(Analog Front Edn“模拟前端”)模块完成超声波数字发射以及回波信号接收处理并数字化。
ZYNQ模块接受移动终端的控制，完成总控制及信号处理功能。
机器视觉模块完成三维、四维图像的跟踪识别，输出有效的数据到ZYNQ模块并且通过无线传输模块将数据发送到移动终端。
移动终端对数据进一步处理后展现到移动终端的显示屏上，同时数据可以存储在移动终端也可以存储到云端数据中心，在云端亦可实现数据的分析及共享。
具体来说，超声换能器上连接运动传感器，所述超声换能器通过驱动装置实现位移，所述运动传感器获得所述超声换能器偏转角度数据作为图像帧附加信息，发送至所述ZYNQ模块处理。超声换能器包括多个换能器单元或者二维阵列。
驱动装置包括传动机构与步进电机模块，传动机构连接在步进电机模块与所述超声换能器之间，所述ZYNQ模块控制所述步进电机模块启动和停止。
超声AFE模块包括T/R开关、可控增益放大器、模数转换器、接收波束形成器、高压MOSFET以及发射波束形成器；所述超声AFE模块发射信号由发射波束形成器产生，通过高压MOSFET驱动为高压发射信号，通过T/R开关激励超声换能器；完成发射后，超声换能器进入接收周期，回波信号通过T/R开关进入可控增益放大器处理后，输入模数转换器完成数字化，然后进入接收波束形成器实现数字波束信号。
ZYNQ模块包括CPU处理器和FPGA处理器，两者之间可进行数据交换；其中，所述FPGA处理器指令所述发射波束形成器发射信号和处理所述接收波束形成器输出的数字波束信号，所述FPGA处理器还与所述机器视觉模块连接；所述CPU处理器分别与所述运动传感器、所述步进电机模块以及所述无线传输模块进行数据交换。
机器视觉模块包括FPGA处理器和DDR存储器，所述机器 视觉模块的FPGA处理器与所述ZYNQ模块的FPGA处理器进行数据交换；所述机器视觉模块的FPGA处理器处理后的信息存储在所述DDR存储器中。
无线传输模块的无线标准协议为WIFI、无线USB、4G或5G。
本系统还包括电源模块，其为超声换能器、运动传感器、步进电机模块、超声AFE模块、ZYNQ模块以及机器视觉处理模块提供电源；所述电源模块包括高压电源、低压电源发生电路、电池充放电管理器以及充电电池。
移动终端包括智能手机、PAD或PC；所述移动终端上运行APP程序，实现数据处理以及对所述无线智能超声胎儿成像系统各模块的运行控制。
本发明无线智能超声胎儿成像系统的工作原理如下：
步骤1、移动终端通过无线通信通道对无线智能超声胎儿成像系统中各模块传输控制参数；
步骤2、ZYNQ模块的CPU处理器通过无线传输模块接收到控制参数进行扫描参数，处理参数的实时计算并输出到ZYNQ模块的FPGA处理器，该FPGA处理器在控制参数的控制下实现对超声AFE模块的超声波对孕妇的发射、接收处理；
步骤2.1、发射信号由发射波束形成器产生，通过高压MOSFET驱动为高压发射信号，通过T/R开关激励超声换能器，超声换能器对孕妇的胎儿发射超声波；完成发射后，超声换能器进入接收周期，回波信号通过T/R开关进入可控增益放大器处理后，输入模数转换器完成数字化，然后进入接收波束形成器实现数字波束信号；
步骤2.1.1、为实现三维数据的精确控制获得，超声换能器与步进电机相连，CPU处理器根据控制参数控制步进电机的转 动角度，每偏转一个步进单位形成一帧图像，同时超声换能器上安装有运动传感器精确获得超声换能器偏转角度数据，作为图像帧附加信息；
步骤3、数字波束信号进入ZYNQ模块的FPGA处理器进行图像处理，处理后的图像数据进入机器视觉模块的FPGA处理器进行数据识别处理；
步骤4、机器视觉模块的FPGA处理器处理完成后的有效数据重新输入到ZYNQ模块的FPGA处理器进行整合后，输入至CPU处理器处理再通过无线传输模块传输到移动终端，最终展现在移动终端的显示装置上；
步骤5、移动终端进一步将数据传输至云端数据中心，以实现数据的分析及共享。
上面结合附图对本发明进行了示例性的描述，显然本发明的实现并不受上述方式的限制，只要采用了本发明的方法构思和技术方案进行的各种改进，或未经改进将本发明的构思和技术方案直接应用于其它场合的，均在本发明的保护范围内。

Claims (10)

  1. 一种无线智能超声胎儿成像系统，其特征在于，包括：
    超声换能器，其向孕妇肚中胎儿发射超声波并接收回波；
    超声AFE模块，其通过所述超声换能器完成超声波数字发射以及回波信号接收处理并数字化；
    ZYNQ模块，其对所述超声AFE模块数字化后的回波信号进行图像处理，将处理后的图像发送至机器视觉模块识别，并将识别结果与所述超声换能器上的偏转角度数据进行整合后通过无线传输模块发送至移动终端；
    机器视觉模块，其实现实时图像与图像特征的比对识别，找到正确的图像信息，并不进行图像整合或者处理，最终完成三维或四维图像的跟踪识别；
    移动终端，其控制所述ZYNQ模块并且对所述ZYNQ模块整合的数据进行处理并通过显示屏显示，所述移动终端与云端数据中心服务器之间实现数据的分析及共享；
    以及无线传输模块，其实现移动终端与ZYNQ模块之间的数据传输。
  2. 根据权利要求1所述无线智能超声胎儿成像系统，其特征在于：所述超声换能器上连接运动传感器，所述超声换能器通过驱动装置实现位移，所述运动传感器获得所述超声换能器偏转角度数据作为图像帧附加信息，发送至所述ZYNQ模块处理。
  3. 根据权利要求2所述无线智能超声胎儿成像系统，其特征在于：所述超声换能器包括多个换能器单元或者二维阵列。
  4. 根据权利要求2所述无线智能超声胎儿成像系统，其特征在于：所述驱动装置包括传动机构与步进电机模块，传动机构连接在步进电机模块中的步进电机与所述超声换能器之间，所述ZYNQ模块控制所述步进电机模块启动和停止。
  5. 根据权利要求1-4中任何一项所述无线智能超声胎儿成像系统，其特征在于：所述超声AFE模块包括T/R开关、可控增益放大器、模数转换器、接收波束形成器、高压MOSFET以及发射波束形成器；所述超声AFE模块发射信号由发射波束形成器产生，通过高压MOSFET驱动为高压发射信号，通过T/R开关激励超声换能器；完成发射后，超声换能器进入接收周期，回波信号通过T/R开关进入可控增益放大器处理后，输入模数转换器完成数字化，然后进入接收波束形成器实现数字波束信号。
  6. 根据权利要求5所述无线智能超声胎儿成像系统，其特征在于：所述ZYNQ模块包括CPU处理器和FPGA处理器，两者之间可进行数据交换；其中，所述FPGA处理器指令所述发射波束形成器发射信号和处理所述接收波束形成器输出的数字波束信号，所述FPGA处理器还与所述机器视觉模块连接；所述CPU处理器分别与所述运动传感器、所述步进电机模块以及所述无线传输模块进行数据交换。
  7. 根据权利要求1-6中任何一项所述无线智能超声胎儿成像系统，其特征在于：所述机器视觉模块包括FPGA处理器和DDR存储器，所述机器视觉模块的FPGA处理器与所述ZYNQ模块的FPGA处理器进行数据交换；所述机器视觉模块的FPGA处理器处理后的信息存储在所述DDR存储器中。
  8. 根据权利要求1-7中任何一项所述无线智能超声胎儿成像系统，其特征在于：所述无线传输模块的无线标准协议为WIFI、无线USB、4G或5G。
  9. 根据权利要求1-8中任何一项所述无线智能超声胎儿成像系统，其特征在于：还包括电源模块，其为超声换能器、运动传感器、步进电机模块、超声AFE模块、ZYNQ模块以及机器视觉处理模块提供电源；所述电源模块包括高压电源、低压电源发生电路、电池充放电管理器以及充电电池。
  10. 根据权利要求1-9中任何一项所述无线智能超声胎儿成像系统，其特征在于：所述移动终端包括智能手机、PAD或PC；所述移动终端上运行APP程序，实现数据处理以及对所述无线智能超声胎儿成像系统各模块的运行控制。
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