CN113456106B - Carotid artery scanning method, carotid artery scanning device and carotid artery scanning computer readable storage medium - Google Patents
Carotid artery scanning method, carotid artery scanning device and carotid artery scanning computer readable storage medium Download PDFInfo
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/48—Diagnostic techniques
- A61B8/483—Diagnostic techniques involving the acquisition of a 3D volume of data
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Abstract
The application relates to the field of ultrasonic imaging, in particular to a carotid artery scanning method, a carotid artery scanning device and a computer readable storage medium. The scanning method comprises the following steps: acquiring a three-dimensional scanning image of a target site, wherein the target site comprises a carotid artery; determining carotid artery distribution according to the three-dimensional scan image; generating a first scanning track of a cross section of the carotid artery according to carotid artery distribution; controlling an ultrasonic probe to scan according to the first scanning track, and determining the three-dimensional space position of the carotid artery in the scanning process; and determining a second scanning track of the longitudinal section of the carotid artery according to the three-dimensional space position, and scanning the carotid artery according to the second scanning track. And the carotid artery scanning device is used for executing the carotid artery scanning method. The computer readable storage medium stores at least one instruction or program that is loaded by a processor and that performs a carotid scanning method.
Description
Technical Field
The application relates to the field of ultrasonic imaging, in particular to a carotid artery scanning method, a carotid artery scanning device and a computer readable storage medium.
Background
Carotid arteries exist on both sides of the neck of animals and humans with the spine. The carotid arteries on both sides of the neck of the human body are respectively positioned on the connecting line of the mandibular angle on one side and the midpoint of the collarbone on the side. Once the carotid artery is stenosed and plaque is generated, the cerebral blood supply is insufficient or the cerebral infarction is large in area and other diseases can be caused.
The carotid ultrasonic image can intuitively reflect the internal diameter of the carotid artery, the thickness of the intima-media and the plaque in the lumen, and is one of effective methods for diagnosing and evaluating carotid lesions. Therefore, in clinic, ultrasound scanning is generally required to be performed on the carotid artery of a patient, and the carotid artery scanning result is used as a basis for judging cardiovascular and cerebrovascular diseases of the patient.
The ultrasonic scanning method of the related art generally requires a doctor to judge the position of the carotid artery of the patient according to professional knowledge and working experience, and perform corresponding manual mapping. However, the operation efficiency of the method is low, and the quality of the finally obtained ultrasonic scanning image is difficult to control due to the limitation of the professional knowledge and working experience of doctors.
Disclosure of Invention
The application provides a carotid artery scanning method, a carotid artery scanning device and a computer readable storage medium, which can solve the problem that the quality of an ultrasonic scanning image generated by a non-planning scanning path in the related technology is difficult to control by generating a scanning track for guiding ultrasonic scanning of a specific section.
As a first aspect of the present application, there is provided a carotid artery scanning method comprising the steps of:
acquiring a three-dimensional scan image of a target site, the target site comprising a carotid artery;
determining carotid artery distribution from the three-dimensional scan image;
generating a first scanning track of a cross section of the carotid artery according to the carotid artery distribution;
controlling an ultrasonic probe to scan according to the first scanning track, and determining the three-dimensional space position of the carotid artery in the scanning process;
and determining a second scanning track of the longitudinal section of the carotid artery according to the three-dimensional space position, and scanning the carotid artery according to the second scanning track.
Optionally, the step of determining carotid artery distribution from the three-dimensional scan image includes:
performing three-dimensional modeling on the target part according to the three-dimensional scanned image;
determining a carotid artery region of the carotid artery according to the three-dimensional modeling result;
and identifying the position of a preset part in the carotid region, and determining the distribution of the carotid artery according to the identified position, wherein the preset part comprises at least one of a neck boundary, a chin and a collarbone.
Optionally, the step of generating a first scan trajectory of a cross-section of the carotid artery from the carotid artery distribution includes:
determining projection positions of carotid artery distribution in the three-dimensional modeling result;
sampling the determined projection position to obtain a sampling position;
determining the pose of the ultrasonic probe at each sampling position along a preset moving direction;
and generating the first scanning track according to the pose of each sampling position and the preset moving direction.
Optionally, the method further comprises:
in the process of controlling the ultrasonic probe to scan according to the first scanning track, detecting whether the carotid artery is in the central area of an ultrasonic image obtained by scanning;
if not, correcting the first scanning track according to the ultrasonic image, and continuing scanning according to the corrected first scanning track.
Optionally, the determining the three-dimensional spatial position of the carotid artery during the scanning process includes:
in the scanning process, recording the pose of the ultrasonic probe and the acquired ultrasonic image in real time;
identifying coordinates of the carotid artery in the ultrasound image in real time;
and determining the three-dimensional space position of the carotid artery according to the identified coordinates and the pose of the ultrasonic probe.
Optionally, the method further comprises:
in the process of scanning according to the second scanning track, detecting whether the ultrasonic image acquired in real time comprises a standard section or not;
if not, searching a standard section by adjusting the pose and/or pressure of the ultrasonic probe according to a standard section searching algorithm, and storing a standard section image.
Optionally, the detecting whether the ultrasound image acquired in real time includes a standard section includes:
detecting whether the ultrasonic image is clear;
and/or the number of the groups of groups,
detecting whether blood vessels in the ultrasound image are flat;
and/or the number of the groups of groups,
and detecting whether the upper and lower membranes of the blood vessel in the ultrasonic image are clear and complete.
Optionally, the controlling the ultrasonic probe to scan according to the first scan track includes:
converting the first scanning track from a first coordinate system to a second coordinate system, wherein the first coordinate system is a coordinate system corresponding to a shooting device for shooting the three-dimensional scanning image, and the second coordinate system is a coordinate system of a control device for controlling the movement of the ultrasonic probe;
and controlling the ultrasonic probe to scan according to the converted first scanning track in the second coordinate system.
As a second aspect of the present application, there is also provided a carotid artery scanning device for performing the carotid artery scanning method of the first aspect of the present application.
As a third aspect of the present application, there is also provided a computer readable storage medium having stored therein at least one instruction or program loaded and executed by a processor to implement the carotid artery scanning method of the first aspect of the present application.
The technical scheme of the application at least comprises the following advantages: the three-dimensional scanning image of the target part is obtained, the target part comprises carotid arteries, carotid artery distribution is determined according to the three-dimensional scanning image, a first scanning track of a cross section of the carotid arteries is generated according to the carotid artery distribution, an ultrasonic probe is controlled to scan according to the first scanning track, the three-dimensional space position of the carotid arteries is determined in the scanning process, a second scanning track of a longitudinal section of the carotid arteries is determined according to the three-dimensional space position, the carotid arteries are scanned according to the second scanning track, automatic and identification of the carotid arteries is achieved, the scanning tracks of the cross section and the longitudinal section of the carotid arteries are automatically generated, and automatic scanning is carried out according to the scanning tracks, so that the problem that the quality of ultrasonic scanning images is difficult to control due to the fact that the ultrasonic scanning tracks are limited by the expertise and working experience of doctors is avoided.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present application, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a carotid scanning apparatus according to an embodiment of the present application;
FIG. 2 shows a schematic diagram of an ultrasound probe scanning system;
FIG. 3 is a flow chart of a carotid scanning method according to an embodiment of the application;
FIG. 3a illustrates a three-dimensional scanned image of a target site provided by an embodiment;
FIG. 3b shows a schematic diagram of FIG. 3a after three-dimensional modeling;
FIG. 3c is a schematic view showing the projection of carotid artery distribution in the three-dimensional modeling result shown in FIG. 3b, in accordance with an embodiment of the application;
FIG. 3d is a schematic diagram of a sampling position obtained by sampling the projection positions of the carotid artery distribution shown in FIG. 3c in the three-dimensional modeling result;
FIG. 3e shows an enlarged schematic view of the carotid sampling point set of the carotid distribution of FIG. 3 d;
FIG. 4 illustrates a flow chart of the ultrasound probe scanning system shown in FIG. 2 in controlling an ultrasound probe to scan according to a first scanning trajectory;
FIG. 5 shows a schematic view of one possible carotid normal cut;
FIG. 6 illustrates a flow chart of the ultrasound probe scanning system shown in FIG. 2 in controlling an ultrasound probe to scan according to a second scanning trajectory;
fig. 7 shows a schematic diagram of a motion control device with a 3D camera mounted at the motion tip.
Detailed Description
The following description of the embodiments of the present application will be made more apparent and fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments of the application are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
In the description of the present application, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present application, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; the two components can be directly connected or indirectly connected through an intermediate medium, or can be communicated inside the two components, or can be connected wirelessly or in a wired way. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.
In addition, the technical features of the different embodiments of the present application described below may be combined with each other as long as they do not collide with each other.
Fig. 1 shows a schematic diagram of a carotid artery scanning apparatus according to an embodiment of the present application, which includes a central control device 110 for performing a carotid artery scanning method according to an embodiment of the present application. The central control apparatus 110 includes:
a three-dimensional image acquisition module 120, the three-dimensional image acquisition module 120 being configured to acquire a three-dimensional scan image of the target site.
A carotid distribution determination module 130, the carotid distribution determination module 130 being configured to determine a carotid distribution from the three-dimensional scan image.
The first scan trajectory planning module 141 is configured to generate a first scan trajectory of a cross-section of the carotid artery according to the carotid artery distribution. The first scanning track is used for guiding the ultrasonic probe to scan the pose with the cross section, and moves along the carotid trend to scan the cross section of the carotid artery.
And a second scan trajectory planning module 142, where the second scan trajectory planning module 142 is configured to determine a second scan trajectory of the longitudinal section of the carotid artery according to the obtained three-dimensional spatial position of the carotid artery. The second scanning track is used for guiding the ultrasonic probe to scan the pose with the longitudinal section, moving along the trend of the carotid artery and scanning the longitudinal section of the carotid artery.
The three-dimensional image acquisition module 120, the carotid artery distribution determination module 130, the first scanning track planning module 141 and the second scanning track planning module 142 perform information interaction through I/O lines.
Fig. 2 shows a schematic view of an ultrasound probe scanning system comprising the central control device 110 shown in fig. 1, as well as a motion control device 410 and an ultrasound device 420.
In this embodiment, the motion control device 410 is a control device for controlling the motion of the ultrasound probe, and may include a multi-axis cascade mechanical arm, where the multi-axis cascade mechanical arm includes a base end and a motion end, and performs tasks such as ultrasound scanning or 3D image acquisition by controlling the motion of the motion end.
The ultrasonic device 420 includes an ultrasonic probe mounted at the moving end of the motion control device 410. The central control device 110, the motion control device 410, and the ultrasound device 420 interact with information via a bus.
The ultrasonic probe scanning system is used for guiding the ultrasonic probe to move along the carotid artery trend in a cross section scanning pose according to a first scanning track by the central control equipment 110 so as to perform cross section scanning on the carotid artery.
In the ultrasound probe scanning system, the central control device 110 is further configured to send the first scanning track to the motion control device 410, acquire the ultrasound probe scanning pose and the corresponding scanning ultrasound image sent by the ultrasound device 420 in real time, determine whether the ultrasound image in the ultrasound image is located outside the central area of the ultrasound image, and adjust the first scanning track.
Fig. 3 shows a flowchart of a carotid artery scanning method according to an embodiment of the present application, where the embodiment shown in fig. 3 may be executed by the carotid artery scanning apparatus shown in fig. 1, and the method includes the following steps:
s21: a three-dimensional scan image of a target site is acquired, the target site including a carotid artery.
Alternatively, the three-dimensional scanned image may be generated from a point cloud dataset. Firstly, carrying out image acquisition on a target part by a 3D camera to form scanning information containing a point cloud data set; the scan information is then sent to a central control device. The point cloud data set comprises a plurality of pixel points, and each pixel point is provided with corresponding three-dimensional coordinate data.
The target site includes a carotid artery, and in actual implementation, the target site may be a neck, a head, an upper body, or a whole body of the subject, which only needs to include the carotid artery, and the specific limitation of the target site is not required in this embodiment.
Referring to FIG. 3a, a three-dimensional scanned image of a target site is shown as provided by one embodiment.
As can be seen from fig. 3a, the three-dimensional scanned image of the target site comprises a point cloud data set comprising a number of pixel points in a first coordinate system T. Each pixel point of the point cloud data set has corresponding three-dimensional coordinate data in the first coordinate system T to form a point cloud image of the target portion. The first coordinate system T is a coordinate system corresponding to a photographing device for photographing the three-dimensional scanning image.
S22: and determining carotid artery distribution according to the three-dimensional scanning image.
And the carotid artery distribution determining module determines carotid artery distribution according to the three-dimensional scanning image.
S23: and generating a first scanning track of the transverse section of the carotid artery according to the carotid artery distribution.
S24: and controlling the ultrasonic probe to scan according to the first scanning track, and determining the three-dimensional space position of the carotid artery in the scanning process.
S25: and determining a second scanning track of the longitudinal section of the carotid artery according to the three-dimensional space position, and scanning the carotid artery according to the second scanning track.
And the second scanning track planning module determines a second scanning track of the longitudinal section of the carotid artery according to the acquired three-dimensional spatial position of the carotid artery.
According to the method, the three-dimensional scanning image of the target part is obtained, the target part comprises the carotid artery, carotid artery distribution is determined according to the three-dimensional scanning image, a first scanning track of the cross section of the carotid artery is generated according to the carotid artery distribution, the ultrasonic probe is controlled to scan according to the first scanning track, the three-dimensional space position of the carotid artery is determined in the scanning process, a second scanning track of the longitudinal section of the carotid artery is determined according to the three-dimensional space position, the carotid artery is scanned according to the second scanning track, automatic and identification of the carotid artery, automatic generation of the cross section and the scanning track of the longitudinal section of the carotid artery are achieved, automatic scanning is conducted according to the scanning track, and the problem that quality of an ultrasonic scanning image is difficult to control due to limitation of professional knowledge and working experience of doctors is avoided.
Optionally, S22: the step of determining carotid artery distribution from the three-dimensional scan image comprises:
s221: and carrying out three-dimensional modeling on the target part according to the three-dimensional scanned image.
Referring to FIG. 3b, a schematic diagram is shown after three-dimensional modeling of FIG. 3a by way of one embodiment.
As can be seen from fig. 3b, the three-dimensional modeled schematic diagram is based on fig. 3a, and according to the positional relationship between the pixels in the point cloud image, the connection points form a line to form a three-dimensional grid model; the three-dimensional mesh model is then converted to a curved surface, thereby three-dimensionally imaging the target site.
S222: and determining the carotid artery region of the carotid artery according to the three-dimensional modeling result.
In actual implementation, the neck region can be segmented in the three-dimensional modeling result according to a visual algorithm, and then the carotid artery region is further determined in the neck region.
S223: and identifying the position of a preset part in the carotid region, and determining the distribution of the carotid artery according to the identified position, wherein the preset part comprises at least one of a neck boundary, a chin and a collarbone.
Alternatively, the distribution of carotid arteries may be identified by a neural network.
Optionally, the S23: generating a first scanning track of a cross section of the carotid artery according to the carotid artery distribution, wherein the first scanning track comprises the following steps:
s231: and determining the projection position of the carotid artery distribution in the three-dimensional modeling result.
Fig. 3c shows a schematic view of the carotid distribution in the three-dimensional modeling result shown in fig. 3b according to an embodiment of the present application, and as can be seen from fig. 3c, the carotid distribution is projected as a carotid projection point set 210, and the carotid projection point set 210 includes a plurality of carotid projection points, each carotid projection point corresponds to a projection location information.
S232: and sampling the determined projection position to obtain a sampling position.
Referring to fig. 3d, a schematic diagram of a sampling position obtained after sampling the projection position of the carotid artery distribution shown in fig. 3c in the three-dimensional modeling result is shown. As can be seen by comparing fig. 3c and 3d, the carotid set of projection points 210 of the carotid distribution shown in fig. 3c is sampled to determine the carotid set of sampling points 310 shown in fig. 3 d. The carotid sampling point set 310 is a subset of the carotid projection point set 210, the carotid sampling point set 310 comprising a plurality of sampling points, each sampling point having a corresponding three-dimensional coordinate in the first coordinate system T.
S233: and determining the pose of the ultrasonic probe at each sampling position along the preset moving direction.
Referring to fig. 3e, which shows an enlarged schematic view of the carotid artery sampling point set of the carotid artery distribution in fig. 3d, according to the three-dimensional coordinates of each sampling point in the first coordinate system T in fig. 3e, the preset moving direction and the corresponding pose of the ultrasonic probe at each sampling point position can be calculated and determined.
As shown in fig. 3e, a first sampling point 311 in the carotid sampling point set 310 is a starting point, the three-dimensional coordinate of the first sampling point 311 is p1 (n 1, o1, a 1), the three-dimensional coordinate of a Q-th sampling point 31Q in the carotid sampling point set 310 is pQ (nQ, oQ, aQ), and the preset moving direction mQ of the Q-th sampling point 31Q is: a vector pointing to the Q-th sampling point 31Q with the first sampling point 311 as a starting point, where Q is a positive integer greater than 1, and the value of Q is less than or equal to the total number of sampling points in the carotid sampling point set 310.
With continued reference to fig. 3e, taking the Q-th sampling point 31Q in fig. 3e as an example, an included angle α is formed between the cross-sectional pose tQ of the ultrasound probe at the Q-th sampling point 31Q and the preset moving direction mQ. According to the preset moving direction mQ and the included angle alpha, the transverse plane pose tQ of the ultrasonic probe along the preset moving direction mQ at the position of the Q sampling point 31Q can be determined. Alternatively, the included angle α is preset to 90 °.
S234: and generating the first scanning track according to the pose of each sampling position and the preset moving direction.
Wherein, the cross section of the carotid artery can be scanned according to the first scanning track.
The carotid artery sampling point set is determined by sampling the projection graph of carotid artery distribution, then the cross section scanning pose and the scanning direction of each sampling point position in the sampling point set are calculated, the cross section scanning pose of all sampling point positions is used as a first scanning track according to the set of the scanning directions, the reliability of the calculation result of the first scanning track is ensured, the calculated amount is reduced, and the generation efficiency of the scanning track of the ultrasonic probe is improved.
Determining the three-dimensional spatial position of the carotid artery during the scanning process in step S24 includes:
s241: and in the scanning process, recording the pose of the ultrasonic probe and the acquired ultrasonic image in real time.
Referring to fig. 4, a real-time pose of a moving end transmitted from a motion control apparatus and a real-time ultrasonic image transmitted from an ultrasonic probe are acquired at a central control apparatus, wherein the moving end real-time pose is a pose of the ultrasonic probe since the ultrasonic probe is installed at the moving end.
S242: and identifying coordinates of the carotid artery in the ultrasound image in real time.
S243: and determining the three-dimensional space position of the carotid artery according to the identified coordinates and the pose of the ultrasonic probe.
Illustratively, in determining the three-dimensional spatial location of the actual carotid artery to determine the location of the actual carotid artery in the scanning ultrasound image, the location of the carotid artery in the scanning ultrasound image may be determined by determining the three-dimensional coordinates of the carotid artery centerline in the scanning ultrasound image.
Another embodiment of the present application further provides a carotid artery scanning method, where the method in this embodiment further includes, based on the embodiment shown in fig. 3:
s31: and in the process of controlling the ultrasonic probe to scan according to the first scanning track, detecting whether the carotid artery is in the central area of the scanned ultrasonic image.
Fig. 4 illustrates a flow chart of the ultrasound probe scanning system shown in fig. 2 in controlling an ultrasound probe to scan according to a first scanning trajectory. As can be seen from fig. 4, the central control device transmits the first scanning trajectory determined from fig. 3 to the motion control device. After receiving the first scanning track, the motion control device controls the motion tail end to move in a corresponding preset moving direction and pose according to the first scanning track, so that the ultrasonic probe installed at the position of the motion tail end scans the pose in a corresponding cross section, and the carotid artery is scanned in the cross section along the preset moving direction. And acquiring a real-time ultrasonic image when the ultrasonic probe performs cross-section scanning on the carotid artery.
S32: if not, correcting the first scanning track according to the ultrasonic image, and continuing scanning according to the corrected first scanning track.
With continued reference to fig. 4, the central control device transmits the corrected first scanning track to the motion control device, so that the ultrasonic probe continues to scan according to the corrected first scanning track.
Optionally, in the process of controlling the ultrasonic probe to scan according to the first scanning track, determining a central area of the acquired scanning ultrasonic image in advance, and judging whether the three-dimensional coordinate of the carotid artery central line is located in the central area; when the three-dimensional coordinates of the carotid artery central line are located in the central area, determining that the current ultrasonic probe position does not deviate from the actual carotid artery; when the three-dimensional coordinates of the central line of the carotid artery are determined to be located outside the central area, the current ultrasonic probe position is determined to deviate from the actual carotid artery, and the pose of the ultrasonic probe needs to be adjusted.
Determining that the current ultrasonic probe position deviates from the actual carotid artery, adjusting the first scanning track, and sending the adjusted first scanning track to the motion control equipment again, and continuously and repeatedly controlling the ultrasonic probe to scan until the current ultrasonic probe position is determined not to deviate from the actual carotid artery, namely determining that the three-dimensional coordinate of the central line of the carotid artery is positioned in the central area.
The embodiment not only can control the pose and the moving direction of the ultrasonic probe according to the first scanning track determined in fig. 3, but also can improve the accuracy of scanning carotid artery by the ultrasonic probe by adjusting the first scanning track determined in fig. 3 according to the pose and the scanning ultrasonic image of the ultrasonic probe obtained in real time.
The carotid artery scanning method flow diagram shown in other embodiments of the present application, where the method shown in this embodiment further includes, based on the embodiment shown in fig. 3:
s41: and detecting whether the ultrasonic image acquired in real time comprises a standard section or not in the process of scanning according to the second scanning track.
The step of detecting whether the ultrasonic image acquired in real time comprises a standard section or not can be performed by detecting whether the ultrasonic image is clear or not; and/or detecting whether a blood vessel in the ultrasound image is straight; and/or detecting whether the upper and lower membranes of the blood vessel in the ultrasonic image are clear and complete so as to detect whether the ultrasonic image acquired in real time comprises a standard section. When the detected ultrasonic image is clear; and/or detecting vessel flatness in the ultrasound image; and/or detecting that the upper and lower membranes of the blood vessel in the ultrasonic image are clear and complete, and determining that the ultrasonic image acquired in real time by detection comprises a standard section.
For example, the current scanning ultrasonic image may be first subjected to image binarization, and a carotid image may be segmented from the binarized scanning ultrasonic image; and then calculating gradients of the carotid artery images determined by segmentation along the up-down direction so as to segment and determine the upper and lower intima of the carotid artery images, and calculating whether the ultrasound images acquired in real time comprise standard tangential planes according to the upper and lower intima. Referring to fig. 5, a schematic diagram of one possible carotid standard cut is shown.
And judging the standard section, and further judging the standard section according to a pre-trained neural network model. The neural network model is trained by a large number of sample training models, and can judge whether the carotid artery image in the input scanning ultrasonic image is a standard tangent plane or not.
S42: if not, searching a standard section by adjusting the pose and/or pressure of the ultrasonic probe according to a standard section searching algorithm, and storing a standard section image.
Fig. 6 illustrates a flow chart of the ultrasound probe scanning system shown in fig. 2 in controlling an ultrasound probe to scan according to a second scanning trajectory.
The central control device sends a second scanning track to the motion control device, and the motion control device controls the motion tail end to move according to the second scanning track, so that the ultrasonic device scans the longitudinal section of the carotid artery according to the second scanning track. The central control device acquires the pose of the movement tail end fed back by the movement control device and the real-time ultrasonic image acquired by the ultrasonic device in real time. And judging whether the longitudinal section is standard or not according to the pose of the movement tail end and the real-time ultrasonic image.
When the central control equipment determines that the actual carotid artery longitudinal section is not standard, the second scanning track is adjusted, the adjusted second scanning track is sent to the motion control equipment again, and scanning is continuously and repeatedly performed according to the second scanning track until the actual carotid artery longitudinal section in the scanning ultrasonic image is determined to be a standard section, and the scanning ultrasonic image is stored and used as an optimal section scanning ultrasonic image.
In the process of adjusting the second scanning track to enable the obtained actual carotid longitudinal surface to be a standard surface, the motion control equipment can control the ultrasonic probe to adjust parameters such as rotation, movement, pressure and the like in a certain range. Parameters can also be adjusted in real time by training the neural network.
According to the method, the second scanning track is planned and formed according to the three-dimensional space position obtained in the first carotid artery scanning track scanning process, and longitudinal section scanning is conducted on the carotid artery according to the second scanning track, so that the comprehensiveness and accuracy of ultrasonic scanning are improved.
It should be noted that, in actual implementation, the first scanning track is a coordinate system of a camera distributed according to the carotid artery obtained by shooting, and in actual application, the motion of the ultrasonic probe needs to be controlled according to the motion control device, so in order to realize accurate control of the ultrasonic probe, in the above embodiment, during the step of controlling the ultrasonic probe to perform the scanning according to the first scanning track, further:
s51: converting the first scanning track from a first coordinate system to a second coordinate system, wherein the first coordinate system is a coordinate system corresponding to a shooting device for shooting the three-dimensional scanning image, and the second coordinate system is a coordinate system of a control device for controlling the movement of the ultrasonic probe;
the first scanning track obtained in the above embodiment is based on a first coordinate system T, where the first coordinate system T is a coordinate system corresponding to a capturing device that captures the three-dimensional scanning image. But the process of controlling the ultrasonic probe to scan according to the first scanning track involves a motion control device, the ultrasonic probe is arranged at the tail end of the motion control device, and the ultrasonic probe is controlled to scan by the motion control device.
In actual implementation, the conversion from the first coordinate system to the second coordinate system can be obtained through hand-eye calibration. Optionally, the hand-eye calibration process is as follows:
a: pose of the motion end in the base coordinate system of the motion control device (known as robot kinematics orthometric solution).
X: pose of the 3D camera in the motion end coordinate system (unknown, need to be solved).
C: the pose relationship of the calibration plate relative to the 3D camera, i.e. the external parameters of the camera (it is known to identify the central coordinates of the custom calibration plate by the camera).
Under the condition that the calibration plate and the motion control device base are fixed, the pose of the calibration plate relative to the motion control device is fixed and is A X C.
Controlling the ultrasonic probe to move to two different positions, then:
A1*X*C1=A2*X*C2
and (3) transformation:
(A2) -1 *A1*X=X*C2*(C1) -1
the simplification is as follows:
AX=XB
after recording a plurality of sets (not less than 9 sets) of measurement data, the equation can be solved by Tsai, park, horaud, andreff, andiilidis and other methods to obtain X, and a conversion matrix from a camera coordinate system to a base coordinate system can be obtained as A X C.
If the motion control device controls the motion end based on a coordinate system other than the first coordinate system T, before the central control device sends the first scanning track determined by the above embodiment to the motion control device, coordinate transformation needs to be performed on the first scanning track, so that the coordinate of the first scanning track is transformed from the first coordinate system T to the other coordinate systems.
Exemplarily, referring to fig. 7, a schematic diagram of a motion control apparatus with a 3D camera mounted at a motion end is shown. As can be seen in fig. 7, the motion control device 410 is a multi-axis cascade robot that includes a base end 411 and a motion end 412,3D camera 510 mounted to the motion end 412 of the motion control device 410. The motion of the motion end 412 is controlled by the motion control device 410 to perform a task such as 3D image acquisition or an ultrasonic probe is installed at the motion end 412 to perform an ultrasonic scanning task. The motion control device 410 has created thereon a motion end coordinate system E having an origin at a motion end 412 of the motion control device 410 and a second coordinate system B having an origin at a base end 411 of the motion control device 410.
The first coordinate system T is a device coordinate system installed at the position of the movement end 412, and the movement end 412 of the movement control device 410 is controlled based on the second coordinate system B, and before the central control device sends the first scan trajectory determined by fig. 3 to the movement control device 410, it is necessary to perform a coordinate system transformation to transform the first coordinate system T into the second coordinate system B according to a transformation matrix.
S51: and controlling the ultrasonic probe to scan according to the converted first scanning track in the second coordinate system.
The present application also provides a computer readable storage medium having stored therein at least one instruction or program that is loaded and executed by a processor to implement the carotid artery scanning method shown in any of figures 1-6.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. While still being apparent from variations or modifications that may be made by those skilled in the art are within the scope of the application.
Claims (8)
1. A carotid artery scanning method, comprising the steps of:
acquiring a three-dimensional scan image of a target site, the target site comprising a carotid artery;
determining carotid artery distribution from the three-dimensional scan image;
generating a first scanning track of a cross section of the carotid artery according to the carotid artery distribution;
controlling an ultrasonic probe to scan according to the first scanning track, and determining the three-dimensional space position of the carotid artery in the scanning process;
determining a second scanning track of the longitudinal section of the carotid artery according to the three-dimensional space position, and scanning the carotid artery according to the second scanning track;
the step of determining carotid artery distribution from the three-dimensional scan image comprises:
performing three-dimensional modeling on the target part according to the three-dimensional scanned image;
determining a carotid artery region of the carotid artery according to the three-dimensional modeling result;
identifying a location of a preset site in the carotid region, the distribution of the carotid artery being determined from the identified location, the preset site including at least one of a neck boundary, a chin, and a collarbone;
the step of generating a first scan trajectory of a cross-section of the carotid artery from the carotid artery distribution comprises:
determining projection positions of carotid artery distribution in the three-dimensional modeling result;
sampling the determined projection position to obtain a sampling position;
determining the pose of the ultrasonic probe at each sampling position along a preset moving direction;
and generating the first scanning track according to the pose of each sampling position and the preset moving direction.
2. The carotid scanning method of claim 1, wherein the method further comprises:
in the process of controlling the ultrasonic probe to scan according to the first scanning track, detecting whether the carotid artery is in the central area of an ultrasonic image obtained by scanning;
if not, correcting the first scanning track according to the ultrasonic image, and continuing scanning according to the corrected first scanning track.
3. The carotid artery scanning method of claim 1, wherein said determining the three-dimensional spatial location of said carotid artery during scanning comprises:
in the scanning process, recording the pose of the ultrasonic probe and the acquired ultrasonic image in real time;
identifying coordinates of the carotid artery in the ultrasound image in real time;
and determining the three-dimensional space position of the carotid artery according to the identified coordinates and the pose of the ultrasonic probe.
4. The carotid scanning method of claim 1, wherein the method further comprises:
in the process of scanning according to the second scanning track, detecting whether the ultrasonic image acquired in real time comprises a standard section or not;
if not, searching a standard section by adjusting the pose and/or pressure of the ultrasonic probe according to a standard section searching algorithm, and storing a standard section image.
5. The carotid scanning method of claim 4 wherein said detecting whether a standard cut is included in the ultrasound image acquired in real time comprises:
detecting whether the ultrasonic image is clear;
and/or the number of the groups of groups,
detecting whether blood vessels in the ultrasound image are flat;
and/or the number of the groups of groups,
and detecting whether the upper and lower membranes of the blood vessel in the ultrasonic image are clear and complete.
6. The carotid artery scanning method of any one of claims 1 to 5, wherein controlling the ultrasound probe to scan according to the first scanning trajectory comprises:
converting the first scanning track from a first coordinate system to a second coordinate system, wherein the first coordinate system is a coordinate system corresponding to a shooting device for shooting the three-dimensional scanning image, and the second coordinate system is a coordinate system of a control device for controlling the movement of the ultrasonic probe;
and controlling the ultrasonic probe to scan according to the converted first scanning track in the second coordinate system.
7. A carotid scanning device, characterized in that it is used for performing a carotid scanning method according to any one of claims 1 to 5.
8. A computer readable storage medium having stored therein at least one instruction or program loaded and executed by a processor to implement the carotid artery scanning method of any of claims 1 to 5.
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