WO2021078064A1

WO2021078064A1 - Ultrasonic scanning track planning method and apparatus, and storage medium and computer device

Info

Publication number: WO2021078064A1
Application number: PCT/CN2020/121233
Authority: WO
Inventors: 李元伟; 谈继勇; 杨光耀; 秦辉
Original assignee: 深圳瀚维智能医疗科技有限公司
Priority date: 2019-10-22
Filing date: 2020-10-15
Publication date: 2021-04-29
Also published as: CN110664438A; CN110664438B

Abstract

An ultrasonic scanning track planning method, comprising: acquiring three-dimensional point cloud data of a chest area (S10); performing skeleton model reconstruction on the structure of the chest area according to the three-dimensional point cloud data to obtain a curve skeleton (S20); segmenting each curve in the curve skeleton according to a preset curve segmentation condition, and obtaining all segmentation points on each curve (S30); selecting a plurality of groups of segmentation points from a segmentation point set according to a preset ultrasonic scanning direction, and connecting each group of segmentation points to form a scanning track curve (S40); and extracting a plurality of track points from the scanning track curve, and calculating an attitude angle of each track point (S50). The generated scanning track is calculated according to the three-dimensional point cloud data of the chest area, such that an ultrasonic probe can adjust the scanning attitude according to the shape of a contact area, so as to ensure that the information covered by each frame of acquired ultrasonic image is comprehensive and accurate.

Description

Ultrasonic scanning trajectory planning method, device, storage medium and computer equipment

Technical field

This application relates to the technical field of ultrasonic scanning, and in particular to a method, device, storage medium, and computing equipment for ultrasonic scanning trajectory planning.

Background technique

Ultrasound ultrasound is a method of ultrasound examination. This non-surgical diagnostic examination is painless, harmless, and non-radioactive to the subject. In addition, ultrasound can clearly display various cross-sectional images of internal organs and their surroundings. Since the images are rich in solidity and close to the true structure of anatomy, the application of ultrasound can be used for early diagnosis. Based on the many advantages of ultrasound examination, from professional medical disease diagnosis to daily health index assessment, its application range is becoming wider and wider.

With the development of medical diagnosis technology and the improvement of economic level, more and more women are paying attention to breast health. Ultrasound can quickly and easily make preliminary judgments on the physiological condition of breasts. Therefore, whether it is a public medical institution or a profitable health service Institutions have launched a variety of breast screening services to meet the needs of female users. However, the existing breast screening mode basically uses conventional ultrasound equipment to scan the breast area through the operator's hand-held ultrasound probe. During the scanning process, the scanning trace of the probe is usually subjective of the operator. Selection, there may be unscanned positions, and it is difficult to adjust the probe posture according to the breast shape of the corresponding area of the breast. There may also be the phenomenon of lack of ultrasound image information. In general, it only depends on the subjective operation of the operator. There are many drawbacks to achieve a comprehensive breast scan, which is not conducive to making accurate judgments on the physiological condition of the breast.

technical problem

The existing breast ultrasound scanning method is difficult to obtain a comprehensive and accurate ultrasound image technical problem.

Technical solutions

It is used in equipment that uses B-type ultrasound probe to automatically scan breasts.

In order to achieve the above objective, this application provides an ultrasonic scanning trajectory planning method, including:

Obtain 3D point cloud data of the chest area;

Performing skeleton model reconstruction on the chest region structure according to the three-dimensional point cloud data to obtain a curved skeleton;

Each curve in the curve skeleton is divided according to the preset curve division condition, and all the division points on each curve are taken, and the division points are expressed as {S _ij , 0≤i<A, 0≤j <B _i }, where A is the number of curves in the curve skeleton, and B _i is the number of division points on the i-th curve;

Select multiple groups of segmentation points from the segmentation point set according to the preset ultrasonic scanning direction, and connect each group of segmentation points into a scanning trajectory curve;

Extract a plurality of trajectory points from the scanning trajectory curve, and calculate the attitude angle of each trajectory point.

Preferably, the step of reconstructing a skeleton model of the chest region structure according to the three-dimensional point cloud data to obtain a curved skeleton includes:

Obtaining a number of sub-point clouds by performing transverse slicing of the three-dimensional point cloud data;

Use Bezier curves to perform curve fitting on each segment of the sub-point cloud to obtain the curve skeleton.

Preferably, said calculating the attitude angle of each trajectory point includes:

The neighborhood point set of the trajectory point is extracted, and the PCA is calculated for the neighborhood point set to obtain the unit normal vector Vz of the neighborhood surface where the trajectory point is located, pointing to the outside of the body, and the trajectory point is calculated according to the following formula The unit direction vectors Vx and Vy on the XY axis, where:

Vy=Vz×[0 0 1] ^T

Vx=Vy×Vz

The unit direction vector of the XYZ coordinate axis of the track point is converted into a representation form of Euler angles, and the attitude angle is extracted.

Preferably, after the step of obtaining the three-dimensional point cloud data of the breast area, the method further includes:

The three-dimensional point cloud data is preprocessed, and the preprocessing includes point cloud downsampling, point cloud filtering, and point cloud smoothing.

Preferably, after the step of calculating the attitude angle of each trajectory point, the method further includes:

Import the travel limit data of the end of the ultrasound probe, and filter out the unreachable points at the end of the ultrasound probe from the track points according to the travel limit data.

Preferably, after the step of importing the travel limit data of the end of the ultrasound probe, and filtering out the unreachable points at the end of the ultrasound probe from the trajectory point according to the travel limit data, the method further includes:

Smooth filtering is performed on each scan trajectory curve.

This application also proposes an ultrasonic scanning trajectory planning device, including:

Point cloud acquisition module, used to acquire 3D point cloud data of the chest area;

A skeleton model reconstruction module, configured to reconstruct a skeleton model of the chest region structure according to the three-dimensional point cloud data to obtain a curved skeleton;

The curve segmentation module is used to segment each curve in the curve skeleton according to preset curve segmentation conditions, and take all the segmentation points on each curve, and the segmentation points are expressed as {S _ij , 0≤i <A, 0≤j<B _i }, where A is the number of curves in the curve skeleton, and B _i is the number of division points on the i-th curve;

The trajectory generation module is used to select multiple groups of segmentation points from the segmentation point set according to the preset ultrasonic scanning direction, and connect each group of segmentation points into a scanning trajectory curve;

The posture angle calculation module is used to extract multiple trajectory points from the scanning trajectory curve and calculate the posture angle of each trajectory point.

This application also proposes a computer program storage medium in which computer program codes are stored, and when the computer program codes are executed by a processor, the steps of the above-mentioned ultrasonic scanning trajectory planning method are realized.

The present application also provides a computer device, including a processor, a memory, and computer program code stored in the memory. The processor implements the steps of the ultrasonic scanning trajectory planning method when calling the computer program code.

Beneficial effect

Compared with the prior art, this application uses a fully automatic and mechanized scanning method to perform ultrasound scanning on the user’s breast area, so as to make a comprehensive and accurate judgment on the physiological condition of the breast and its surrounding organs and tissues to avoid causes. Human operations lead to the occurrence of incomplete coverage and missing information of the ultrasound images obtained by the scan; and this fully automatic mechanized scan method relies on the computer based on the three-dimensional point cloud data of the chest area in the process of performing the ultrasound scan. ???????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????? Calculate the generated scanning trajectory, so that the ultrasound probe can adjust the scanning attitude according to the shape of the contact area, and ensure that the information covered by each frame of the acquired ultrasound image is comprehensive and accurate.

Description of the drawings

FIG. 1 is a schematic structural diagram of an example environment in which multiple embodiments disclosed in this application can be implemented;

2 is a schematic flowchart of an embodiment of the ultrasonic scanning trajectory planning method of this application;

3 is a schematic flowchart of another embodiment of the ultrasonic scanning trajectory planning method of this application;

4 is a schematic flowchart of another embodiment of the ultrasonic scanning trajectory planning method of this application;

FIG. 5 is a schematic diagram of an original three-dimensional point cloud in multiple embodiments disclosed in this application;

6 is a schematic diagram of a curved skeleton obtained through skeleton model reconstruction in multiple embodiments disclosed in this application;

FIG. 7 is a schematic diagram of functional modules of an embodiment of the ultrasonic scanning trajectory planning device of this application;

FIG. 8 is a schematic structural diagram of a computer device in which multiple embodiments disclosed in this application can be implemented.

The realization, functional characteristics, and advantages of the purpose of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings.

Implementation of this application

It should be understood that the specific embodiments described here are only used to explain the application, and not used to limit the application.

This application provides an ultrasound scanning trajectory planning method, which aims to formulate the best ultrasound scanning trajectory according to the chest area of each user, so that the breast ultrasound scanning equipment can perform the scanning process according to the ultrasound scanning trajectory , And then generate comprehensive and accurate ultrasound images containing information.

As shown in Figure 1, in order to provide an environmental basis for the implementation of the method, the aforementioned breast ultrasound scanning equipment mainly includes a scanning actuator 10, a bed 20, and a point cloud acquisition device 30, wherein the scanning actuator 10 includes a host 11, The robotic arm 12 connected to the host 11 and the ultrasonic probe 13 installed at the execution end of the robotic arm 12. In this embodiment, the host 11 has corresponding hardware capable of implementing communication, data processing and motion control functions, and the host 11 also has The infrastructure for installing the robotic arm 12, for example, the robotic arm 12 is configured to provide a multi-axis structure with three linear motion degrees of freedom and two or more rotational degrees of freedom, so as to ensure that the ultrasonic probe 13 can be based on the surface of the area to be scanned. The shape is adapted for posture transformation. In specific applications, the robotic arm 12 can be a five-axis robotic arm or a six-axis robotic arm. The bed 20 can be a fixed support structure or a movable structure that can provide position adjustment. For example, by setting a lifting mechanism to adjust the height of the support surface of the bed 20, or by setting a horizontal moving mechanism to adjust The horizontal position of the supporting surface of the lying bed 20 can adjust the user's initial position without requiring the user to move the body. The point cloud acquisition device 30 is arranged above the bed 20. In order to acquire three-dimensional point cloud data more comprehensively, two sets of point cloud acquisition devices 30 can be configured according to the structure shown in FIG. 1. In this example, the user's body is used. The longitudinal direction is the reference direction for arranging the point cloud acquisition device 30. In other embodiments, the point cloud acquisition device 30 is arranged in the lateral direction of the user's body as the reference direction. The point cloud acquisition device 30 in this embodiment can also be structured. The light sensor can of course also be a lidar.

So far, the application environment of each embodiment of the present application and the hardware structure and functions of the related equipment have been described in detail, and the structural composition of the above-mentioned breast ultrasound scanning device is only an example of the basic functions, and is not an implementation method of the breast ultrasound scanning device. limits. Below, based on the above-mentioned application environment and related equipment, various embodiments of the ultrasonic scanning trajectory planning method will be introduced in detail.

As shown in FIG. 2, in an embodiment, the ultrasonic scanning trajectory planning method proposed in this application includes:

Step S10, acquiring three-dimensional point cloud data of the chest area.

The user’s breast area (for women) is a part that is susceptible to changes in its shape due to the influence of its own posture and external forces. In order to meet the technical requirements of the aforementioned breast ultrasound scanning equipment, the breast area needs to be beamed before performing a comprehensive scan. Shape, for example, by wearing a chest vest with a certain elasticity to adjust the shape of the chest area and maintain the stability of the shape. Therefore, for each ultrasound scanning process, generally speaking, it is necessary to reacquire 3D point cloud data. In actual application, the user first lays on the lying bed 20 and adjusts the position according to the actual situation until the requirements of 3D point cloud data acquisition and ultrasound scanning are met, and then the 3D point cloud of the chest area is acquired by the point cloud acquisition device 30 Data, considering that the acquired original point cloud data covers a wide range, the original point cloud data needs to be filtered by boundaries to simplify the difficulty of post-processing of the data. By collecting the three-dimensional point cloud data of the chest area, the three-dimensional structure of the chest area can be accurately described, thereby generating the motion trajectory of the ultrasound probe 13 conforming to the actual scanning contact surface through the later scanning trajectory planning algorithm.

Further, in a preferred embodiment, the ultrasonic scanning trajectory planning method further includes:

Preprocessing the three-dimensional point cloud data, the preprocessing includes point cloud downsampling, point cloud filtering and point cloud smoothing.

This step is performed after the 3D point cloud data is obtained. By preprocessing the 3D point cloud data, point cloud data that is more suitable for the ultrasound scanning application scenario can be obtained, while reducing the complexity of the data and improving the data of the device Processing efficiency. Specifically, the input point cloud is relatively dense, and all processing takes a long time. Therefore, the input point cloud is down-sampled first to reduce the density of the point cloud and speed up the processing speed. Intuitively speaking, point cloud downsampling is to take a point from the original point cloud at a certain spatial distance to represent other points in its neighborhood, so that a more sparse point cloud can be obtained. The specific point cloud downsampling setting standard It can be selected according to the data collection specifications of the point cloud collection device and the accuracy of the later data processing, and there is no restriction here. In addition, theoretically the point cloud in the chest area should form a smooth continuous surface, but due to various reasons, there will be some abnormal point clouds (such as several isolated discrete points). These abnormal point clouds can be filtered out by point cloud filtering. , Output a higher quality point cloud for use in subsequent steps. The filtered point cloud is not smooth due to the measurement error of the sensor, such as water wave-like ripples. Therefore, the point cloud is further smoothed to make the surface of the point cloud smoother.

In step S20, a skeleton model of the chest region structure is reconstructed according to the three-dimensional point cloud data to obtain a curved skeleton.

As shown in Figure 5, the data volume of the acquired three-dimensional point cloud data is relatively large, and the model needs to be reconstructed to meet the application requirements of the scanning trajectory planning algorithm while simplifying the data. Specifically, the point cloud is sliced according to a preset direction, and the direction of the human body is taken as a reference, and the slice operation is mainly performed along the horizontal and vertical directions of the body, and in the optimal slicing constraint condition, the slicing operation is performed at equal intervals. Slicing, so as to obtain a segment of the sub-point cloud of equal width, the width of each segment of the sub-point cloud can be flexibly adjusted according to the actual situation. As a possible implementation manner, the ultrasonic probe 13 adopts a strip scanning method, and the direction of the strip scanning is along the longitudinal direction of the body, so point cloud slices are performed along the transverse direction of the body. This scanning method affects the movement mechanism. The requirements are low, and can guarantee the quality of ultrasound images.

As shown in Fig. 3, the foregoing step S20 includes:

Step S201: Obtain several segment point clouds by transversely slicing the three-dimensional point cloud data;

In step S202, a Bezier curve is used to perform curve fitting on each segment of the sub-point cloud to obtain a curve skeleton.

As shown in Figure 6, the reconstructed curved skeleton is a more stable and reliable representation of the structure of the chest region, which is conducive to the post-processing of the algorithm. In this step, for the fitting operation of the Bezier curve, reference can be made to the detailed description of this aspect in the prior art, which will not be repeated here.

In step S30, each curve in the curve skeleton is divided according to the preset curve dividing condition, and all the dividing points on each curve are taken.

In this step, taking the previously selected longitudinal strip scanning method as an example, the horizontally distributed curves are divided into equal arc lengths, and the division distance is set according to the coverage area of the ultrasound probe 13, so as to ensure that the ultrasound probe 13 is in During the scanning process, the complete area to be scanned can be covered, and the overlap area can be reduced at the same time. In the process of performing curve segmentation, the obtained segmentation point is expressed as {S _ij , 0≤i＜A, 0≤j＜B _i }, where A is the number of curves in the curve skeleton, and B _i is the i-th curve The number of division points on the above, i and j are both positive integers. By performing coordinate transformation on the point cloud, the XYZ coordinate values of each division point in the motion coordinate system corresponding to the ultrasonic probe 13 can be obtained. Regarding the principle of point cloud coordinate transformation, With reference to the detailed description of the prior art, it will not be repeated here.

In step S40, multiple groups of segmentation points are selected from the segmentation point set according to the preset ultrasonic scanning direction, and each group of segmentation points is connected into a scanning trajectory curve.

In this step, according to the preset ultrasonic scanning direction, select multiple groups of segmentation points that can be combined into the scanning trajectory curve from the segmentation point set. Taking longitudinal strip scanning as an example, the simplest grouping method is to select The dividing points with the same number j on each curve in the curve skeleton form a group, so that a complete trajectory {S _0j , S _1j , S _2j ,..., S _Aj } can be obtained. In addition to the above-mentioned method of combining the dividing points as an example, any other applicable method may also be used to group the dividing points.

In step S50, multiple trajectory points are extracted from the scanning trajectory curve, and the attitude angle of each trajectory point is calculated.

In this step, as a preferred embodiment, the trajectory points are the aforementioned segmentation points. This method of extracting trajectory points can simplify the data processing process. Of course, in addition to extracting the aforementioned segmentation points, one or more points between adjacent segmentation points can also be extracted as trajectory points. Here, the mechanism motion parameters of the breast ultrasound scanning device need to be combined to avoid data redundancy. Taking the extracted segmentation points as trajectory points as an example, and matching a five-degree-of-freedom breast ultrasound scanning device, it is necessary to obtain the coordinate value of each trajectory point and the corresponding attitude angle, and express the trajectory point as P _i =[X _i , _{_{_{Y i, Z i, R i}}} , P i], which respectively represent five Roll XYZ coordinate values of P _i and P _i a, Pitch attitude angle, wherein the XYZ coordinate values of P _i may be of the preceding data point cloud computing Therefore, this step mainly calculates the two attitude angles of the trajectory point. However, if the extracted trajectory points are not the aforementioned segmentation points, then the XYZ coordinate values of these unknown trajectory points need to be calculated. By determining the five coordinates of each track point, according to the XYZ coordinate values, the ultrasonic probe 13 can be controlled in the motion control program to move to the specific position of the area to be scanned, and according to the Roll and Pitch attitude angles, it can be controlled in the motion control program. The angle and posture of the ultrasonic probe 13 should be adjusted to make the surface of the probe closely fit the surface of the area to be scanned.

As shown in Figure 4, in a preferred embodiment, the aforementioned calculation of the attitude angle of each trajectory point mainly adopts the following algorithm, and the specific steps include:

Step S501: Extract the neighborhood point set of the trajectory point, and obtain the unit normal vector Vz of the neighborhood surface where the trajectory point is located, pointing to the outside of the body, by calculating the PCA of the neighborhood point set.

In this step, the neighborhood point set extracted with the track point as the center can select the boundary radius according to the desired calculation accuracy. Here, there is no restriction on the range setting of the neighborhood point set, and the extraction range of the neighborhood point set is set Afterwards, the unit normal vector Vz pointing to the outside of the body of the surface of the neighborhood where the track point is located can be obtained by calculating the PCA of the neighborhood point set.

Step S502: Calculate the unit direction vectors Vx and Vy of the trajectory point on the XY axis according to the formulas Vy=Vz×[0 0 1] ^{T and Vx=Vy×Vz.}

In step S503, the unit direction vector of the XYZ coordinate axis of the track point is converted into the representation form of Euler angles, and the attitude angle is extracted.

After converting the unit direction vector into the representation of Euler angles, the attitude angles in three directions can actually be obtained. Specifically, several attitude angles can be extracted, which can be combined with the degree of freedom of motion provided by the ultrasonic probe 13. Take extracting the attitude angle of Roll and Pitch as an example.

In addition, after the step of calculating the attitude angle of each trajectory point, considering that some trajectory points may be located outside the motion range of the end of the ultrasonic probe 13, it is necessary to verify each trajectory point. Specifically, the ultrasonic scanning trajectory planning method Also includes:

Import the travel limit data at the end of the ultrasound probe, and filter out the unreachable points from the end of the ultrasound probe based on the travel limit data.

Generally, the movement limit of the ultrasonic probe 13 can be calibrated and stored in the form of a data table for later use. The track points are verified according to the data table, which can avoid accidents in the scanning process of the equipment. At the same time, after filtering out some trajectory points, smooth filtering is performed on each scanning trajectory curve, so that the ultrasonic probe 13 moves more smoothly during the scanning process, and reduces local squeezing of the human body.

It can be seen that the ultrasonic scanning trajectory planning method of the present application uses a fully automatic mechanized scanning method to perform ultrasonic scanning on the user's breast area, so as to make a comprehensive and accurate judgment on the physiological condition of the breast and its surrounding organs and tissues. In order to avoid the occurrence of incomplete coverage and missing information of the ultrasound images obtained by the scan due to human operation; and, the fully automatic mechanized scanning method depends on the computer according to the chest area during the process of performing the ultrasound scan. The scanning trajectory generated by the calculation of the three-dimensional point cloud data enables the ultrasound probe to adjust the scanning posture according to the shape of the contact area to ensure that the information covered by each frame of the acquired ultrasound image is comprehensive and accurate.

In addition, this application also provides an ultrasonic scanning trajectory planning device. As shown in FIG. 7, the ultrasonic scanning trajectory planning device includes:

The point cloud acquisition module 100 is used to acquire three-dimensional point cloud data of the chest area;

The skeleton model reconstruction module 200 is used to reconstruct a skeleton model of the chest region structure according to the three-dimensional point cloud data to obtain a curved skeleton;

The curve segmentation module 300 is used to segment each curve in the curve skeleton according to preset curve segmentation conditions, and take all the segmentation points on each curve, and the segmentation points are expressed as {S _ij , 0≤i＜A, 0≤j＜B _i }, where A is the number of curves in the curve skeleton, and B _i is the number of division points on the i-th curve;

The trajectory generation module 400 is used to select multiple groups of segmentation points from the segmentation point set according to the preset ultrasonic scanning direction, and connect each group of segmentation points into a scanning trajectory curve;

The posture angle calculation module 500 is used to extract multiple trajectory points from the scanning trajectory curve and calculate the posture angle of each trajectory point.

Each module in the above-mentioned ultrasonic scanning trajectory planning device can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules may be embedded in the computer equipment in the form of hardware or independent of the computer equipment, and may also be stored in the memory in the server in the form of software, so that the computer equipment can call and execute the operations corresponding to the above-mentioned modules. The computer equipment may be a central processing unit (CPU), a microcomputer equipment, a single-chip microcomputer, and so on. The working principles and functions of the above-mentioned functional modules can be seen in the implementation process of the ultrasonic scanning trajectory planning method shown in FIGS. 2 to 4, which will not be repeated here.

This application also provides a computer program storage medium in which computer program codes are stored, and when the computer program codes are executed by a processor, the following steps are implemented:

Obtain 3D point cloud data of the chest area;

Reconstruct the skeleton model of the chest area structure according to the 3D point cloud data to obtain a curved skeleton;

Divide each curve in the curve skeleton according to the preset curve division conditions, and take all the division points on each curve, and the division points are expressed as {S _ij , 0≤i＜A, 0≤j＜B _i } , Where A is the number of curves in the curve skeleton, and B _i is the number of dividing points on the i-th curve;

Extract multiple trajectory points from the scanning trajectory curve, and calculate the attitude angle of each trajectory point.

When the computer program is executed by the processor, the other steps of the ultrasonic scanning trajectory planning method are also realized. For details, please refer to the description including the corresponding embodiments in Figs. 3 and 4, which will not be repeated here.

The present application also provides a computer device. As shown in FIG. 8, the computer device includes a processor 40, a memory 50, and computer program code stored in the memory 50. When the processor 40 calls the computer program code, the foregoing The steps of an ultrasonic scanning trajectory planning method provided in each embodiment.

Specifically, the computer device may be a personal computer or a server. The computer device includes a processor 40, a memory 50, and a communication interface (not shown) connected by a system bus. Among them, the processor 40 is used to provide calculation and control capabilities, and support the operation of the entire computer equipment. The memory 50 includes a non-volatile storage medium and an internal memory. An operating system and a computer program are stored in the non-volatile storage medium, and the computer program is executed by the processor 40 to implement an ultrasonic scanning trajectory planning method. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface is used to communicate with an external server or terminal through a network connection.

The above are only the preferred embodiments of the application, and do not limit the scope of the patent for this application. Any equivalent structure or equivalent process transformation made using the content of the description and drawings of the application, or directly or indirectly applied to other related technical fields , The same reason is included in the scope of patent protection of this application.

Claims

An ultrasonic scanning trajectory planning method, which is characterized in that it includes:

Obtain 3D point cloud data of the chest area;

Performing skeleton model reconstruction on the chest region structure according to the three-dimensional point cloud data to obtain a curved skeleton;

Each curve in the curve skeleton is divided according to the preset curve division condition, and all the division points on each curve are taken, and the division points are expressed as {S ij , 0≤i<A, 0≤j <B i }, where A is the number of curves in the curve skeleton, and B i is the number of division points on the i-th curve;

Select multiple groups of segmentation points from the segmentation point set according to the preset ultrasonic scanning direction, and connect each group of segmentation points into a scanning trajectory curve;

Extract a plurality of trajectory points from the scanning trajectory curve, and calculate the attitude angle of each trajectory point.
The ultrasonic scanning trajectory planning method according to claim 1, wherein the reconstructing a skeleton model of the chest region structure according to the three-dimensional point cloud data to obtain a curved skeleton comprises:

Obtaining a number of sub-point clouds by performing transverse slicing of the three-dimensional point cloud data;

Use Bezier curves to perform curve fitting on each segment of the sub-point cloud to obtain the curve skeleton.
The ultrasonic scanning trajectory planning method according to claim 1, wherein said calculating the attitude angle of each trajectory point comprises:

The neighborhood point set of the trajectory point is extracted, and the PCA is calculated for the neighborhood point set to obtain the unit normal vector Vz of the neighborhood surface where the trajectory point is located, pointing out of the body, and the trajectory point is calculated according to the following formula The unit direction vectors Vx and Vy on the XY axis, where:

Vy=Vz×[0 0 1] T

Vx=Vy×Vz

The unit direction vector of the XYZ coordinate axis of the track point is converted into a representation form of Euler angles, and the attitude angle is extracted.
The ultrasonic scanning trajectory planning method according to claim 1, wherein after the step of acquiring three-dimensional point cloud data of the chest region, the method further comprises:

The three-dimensional point cloud data is preprocessed, and the preprocessing includes point cloud downsampling, point cloud filtering, and point cloud smoothing.
The ultrasonic scanning trajectory planning method according to claim 1, wherein after the step of calculating the attitude angle of each trajectory point, the method further comprises:

Import the travel limit data of the end of the ultrasound probe, and filter out the unreachable points at the end of the ultrasound probe from the track points according to the travel limit data.
The ultrasonic scanning trajectory planning method according to claim 5, wherein the travel limit data of the end of the ultrasound probe is imported, and the end of the ultrasound probe is filtered from the trajectory point according to the travel limit data After the step of the unreachable point, the method further includes:

Smooth filtering is performed on each scan trajectory curve.
An ultrasonic scanning trajectory planning device is characterized in that it comprises:

Point cloud acquisition module, used to acquire 3D point cloud data of the chest area;

A skeleton model reconstruction module, configured to reconstruct a skeleton model of the chest region structure according to the three-dimensional point cloud data to obtain a curved skeleton;

The curve segmentation module is used to segment each curve in the curve skeleton according to preset curve segmentation conditions, and take all the segmentation points on each curve, and the segmentation points are expressed as {S ij , 0≤i <A, 0≤j<B i }, where A is the number of curves in the curve skeleton, and B i is the number of division points on the i-th curve;

The trajectory generation module is used to select multiple groups of segmentation points from the segmentation point set according to the preset ultrasonic scanning direction, and connect each group of segmentation points into a scanning trajectory curve;

The posture angle calculation module is used to extract multiple trajectory points from the scanning trajectory curve and calculate the posture angle of each trajectory point.
A computer program storage medium, wherein the computer program storage medium stores computer program code, which when executed by a processor realizes the ultrasonic scanning trajectory planning of any one of claims 1 to 6 Method steps.
A computer device, comprising a processor, a memory, and computer program code stored in the memory, wherein the processor implements any one of claims 1 to 6 when calling the computer program code Describes the steps of the ultrasonic scanning trajectory planning method.