CN113940699A - Ultrasonic probe self-positioning device and self-positioning method thereof - Google Patents
Ultrasonic probe self-positioning device and self-positioning method thereof Download PDFInfo
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- CN113940699A CN113940699A CN202111183943.9A CN202111183943A CN113940699A CN 113940699 A CN113940699 A CN 113940699A CN 202111183943 A CN202111183943 A CN 202111183943A CN 113940699 A CN113940699 A CN 113940699A
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- ultrasonic
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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
- A61B8/42—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
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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
- A61B8/42—Details of probe positioning or probe attachment to the patient
- A61B8/4272—Details of probe positioning or probe attachment to the patient involving the acoustic interface between the transducer and the tissue
- A61B8/4281—Details of probe positioning or probe attachment to the patient involving the acoustic interface between the transducer and the tissue characterised by sound-transmitting media or devices for coupling the transducer to the tissue
-
- 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
Abstract
The invention discloses an ultrasonic probe self-positioning device and a self-positioning method thereof. The top surface of the ultrasonic imitation body is attached to the ultrasonic probe during working, the bottom surface of the ultrasonic imitation body is placed on a contact plane, and the plane position, the plane rotation angle theta and the space rotation angle of the ultrasonic probe are determined according to ultrasonic imaging of a reflection particle line preset in the ultrasonic imitation body
The three data can uniquely determine the spatial position of the ultrasonic probe in space, and intelligent ultrasonic is realized under the conditions of low cost and low operation difficulty.
Description
Technical Field
The invention relates to the technical field of ultrasonic detection, in particular to an ultrasonic probe self-positioning device and a self-positioning method thereof.
Background
Compared with other medical images (CT, MRI and X-ray), the ultrasonic image has the advantages of no wound, real-time performance, repeatability, low cost and the like, and portable ultrasound and intelligent ultrasound (three-dimensional ultrasound) appear along with the development. In order to realize three-dimensional ultrasound, a mechanical slide rail, a sensor or a two-dimensional ultrasonic probe is generally adopted, and the essence of the three is to establish the three-dimensional position of a series of two-dimensional ultrasonic images.
For example, in the ultrasonic probe calibration method based on optical positioning, the brightness, the qiu-shuang and the guo-courage, the newspaper of biomedical engineering in china, vol.32, 5, and 10 months in 2013, before the handheld two-dimensional ultrasonic probe scans and reconstructs a three-dimensional ultrasonic image, the ultrasonic probe calibration needs to be performed, and a three-dimensional calibration template consisting of two mutually perpendicular planes is designed. In the calibration process, the handheld ultrasonic probe scans the calibration template, and the optical positioning equipment acquires the transformation matrix of the camera and the template and the transformation matrix of the ultrasonic probe and the camera. And 3 intersection points of the ultrasonic beam and the three orthogonal axes of the template are obtained in each scanning, and 6 calibration equations are constructed. When more than two calibration images are collected, nonlinear optimization solution can be carried out to obtain a transformation matrix of the ultrasonic image and the ultrasonic probe, and the unknown quantity comprises 6 space variables and two ultrasonic image scale factors. The method adopts external equipment to measure the position of the probe, which causes the problems of cost increase and portability reduction brought by equipment binding, unfriendly use complexity of the equipment and the like.
As another example, the chinese patent application CN109567864A discloses a positionable ultrasonic probe, wherein the detection surface of the ultrasonic probe has an opening; an imaging component is fixed in the ultrasonic probe above the opening, and when the ultrasonic probe is used, the imaging component is used for acquiring an image of the body contact surface of a person to be detected; an anti-bending light-transmitting gasket is fixed at the opening to completely cover the opening, and when the ultrasonic probe is used, the anti-bending light-transmitting gasket is used for preventing the couplant from flowing backwards and ensuring the smoothness of the detection surface of the probe; the probe comprises an image processing module, and the displacement of the ultrasonic probe in the horizontal and vertical directions is calculated by analyzing and comparing image sequences acquired by the imaging assembly within a certain time. The imaging assembly comprises: imaging element and light emitting element based on optical principle; a thermal imaging component based on the thermal principle; further, the light-transmitting pad may have a certain light-loss ratio for a specific light. The method is used for processing the ultrasonic probe, the portability of the equipment can be improved to a certain extent through integration, but the modification of the probe brings higher cost.
Therefore, realizing the self-positioning of the ultrasonic probe is very important in realizing the intelligence of the ultrasonic equipment.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides an ultrasonic probe self-positioning device and a positioning method thereof, aiming at directly obtaining the three-dimensional position information of a probe by using the special properties of an ultrasonic coupling gasket without external inspection equipment and an improved ultrasonic probe method and only using traditional ultrasonic scanning equipment, and realizing intelligent ultrasonic under the conditions of low cost and low operation difficulty.
In order to achieve the technical purpose, the invention adopts the technical scheme that:
the utility model provides a self-align device of ultrasonic probe, includes the imitative body of supersound, the imitative body of supersound embeds and is equipped with the reflection granule line that certain form was arranged.
Further, the ultrasonic phantom is an ultrasonic coupling gasket.
Furthermore, the number of the reflective particle lines is two, the first group of the reflective particle lines comprises reflective particle lines 1-4 which are linearly arranged and are transversely arranged on the top surface of the ultrasonic coupling gasket, wherein the reflective particle lines 2-4 form an N shape, and the reflective particle lines 1 and the reflective particle lines 2 are parallel and closely arranged and are in a 1N shape; the second group of reflective particle lines comprise reflective particle lines 5-7 which are linearly arranged, are longitudinally arranged on the longitudinal central plane of the ultrasonic coupling gasket and are in an N shape.
The self-positioning method comprises the step of attaching the top surface of an ultrasonic coupling gasket to the ultrasonic probe during working, the step of placing the bottom surface of the ultrasonic coupling gasket on a contact plane, and the step of determining the plane position and plane rotation of the ultrasonic probe according to ultrasonic imaging of a reflection particle line preset in the ultrasonic coupling gasketAngle theta and spatial rotation angle
Thereby determining the spatial position of the ultrasonic probe.
Further, the method for determining the plane position, the plane rotation angle and the space rotation angle of the ultrasonic probe comprises the following steps: according to the ultrasonic imaging principle, echo information reflected by the first group of reflected particle lines is represented by P, A, O, B four points in the width direction of the ultrasonic coupling gasket, and sound wave information reflected by the second group of reflected particle lines is represented by M, N, K three points in the depth direction of the ultrasonic coupling gasket;
step 1: determining the positions of the left side and the right side of the ultrasonic probe in the initial state by using the position relation of P, A;
step 2: judging the plane position of the ultrasonic probe on the ultrasonic coupling gasket by using the A, O, B points;
and step 3: determining the plane rotation angle theta of the ultrasonic probe by using three points A, O, B;
and 4, step 4: determining the spatial rotation angle of the ultrasonic probe by using M, N, K points
。
Specifically, in step 2, the specific manner of determining the plane position of the ultrasonic probe on the ultrasonic coupling pad is as follows: and determining the plane position of the current ultrasonic probe according to the length ratio of the line segment AO to the line segment OB.
Specifically, in step 3, the method for determining the plane rotation angle θ of the ultrasonic probe includes: the crossing point A is used as the perpendicular line AH of the reflecting particle line 4, the length of AH is known from the initial design, and the plane rotation angle theta, namely
θ＝arcsin(LAH/LAB) Or θ 180 ° -arcsin (L)AH/LAB)。
Specifically, in step 4, the method for determining the spatial rotation angle of the ultrasonic probe comprises the following steps: the crossing point M is used as the perpendicular MH 'of the reflecting grain line 7, the length of MH' can be known from the initial design, the length of MK can be obtained by imaging, and the angle alpha, namely
α＝arccos(LMH'/LMK)
According to the spatial angle relation and alpha, the spatial rotation angle can be calculated
I.e. by
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, the reflecting particle lines with specific shapes are embedded in the ultrasonic coupling gasket, the traditional ultrasonic scanning equipment can be used in a matched manner, the plane position, the plane rotation angle and the space rotation angle of the ultrasonic probe can be determined through ultrasonic imaging of the reflecting particle lines, the three data can be used for uniquely determining the space position of the ultrasonic probe in space, the three-dimensional position information of the probe can be directly obtained, and intelligent ultrasonic is realized under the conditions of low cost and low operation difficulty.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2 is a schematic diagram of determining the planar position of an ultrasound probe;
FIG. 3 is a schematic view showing another case of judging the plane position of the ultrasonic probe;
FIG. 4 is a schematic diagram of determining the plane rotation angle θ of an ultrasound probe;
FIG. 5 is a schematic diagram of another case of determining the plane rotation angle θ of the ultrasonic probe;
FIG. 6 is a schematic view of an ultrasonic probe for fixed imaging in the depth direction of an ultrasonic coupling pad;
FIG. 7 is a schematic diagram of determining spatial rotation angle of an ultrasound probe;
FIG. 8 is another schematic illustration of determining the spatial rotation angle of an ultrasound probe;
reference numerals: 10-ultrasound coupling pad, 101-top surface, 102-bottom surface, 20-first set of reflective particle lines, 30-second set of reflective particle lines, 1, 2, 3, 4, 5, 6, 7-reflective particle lines.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
An ultrasonic probe self-positioning device comprises an ultrasonic imitation body, wherein a reflective particle line is embedded in the ultrasonic imitation body; the ultrasonic imitation body can be an ultrasonic coupling gasket 10 or other sound-transmitting materials, preferably, the ultrasonic imitation body is made of balanced salt solution, sodium alginate, acrylamide and the like as main materials, and is non-toxic and harmless in the manufacturing process and the using process; the reflective particle lines are composed of special reflective particles, so that reflective imaging is diffuse reflective imaging, and imaging loss at certain imaging angles caused by specular reflection due to smooth reflective lines is avoided. In particular, the reflective particlesThe first group of reflective particle lines 20 comprises reflective particle lines 1-4 which are linearly arranged and are transversely arranged on the top surface 101 of the ultrasonic coupling gasket, wherein the reflective particle lines 2-4 form an N shape, and the reflective particle lines 1 and the reflective particle lines 2 are parallel and closely arranged and are in a 1N shape; the second group of reflective particle lines 30 comprises reflective particle lines 5-7 arranged linearly, and arranged longitudinally on the longitudinal central plane of the ultrasonic coupling gasket in an "N" shape. During operation, the top surface 101 of the ultrasonic coupling gasket is attached to the ultrasonic probe, and the bottom surface 102 of the ultrasonic coupling gasket is placed on the contact plane. When the ultrasonic coupling gasket is used, the ultrasonic probe vertically scans the ultrasonic coupling gasket from the top surface to the bottom surface, transmits ultrasonic waves to the ultrasonic coupling gasket and receives reflection echoes of reflection particles, and the plane position, the plane rotation angle theta and the space rotation angle of the ultrasonic probe can be determined according to reflection echo imaging points of the reflection particles preset in the ultrasonic coupling gasket
Thereby determining the unique spatial position of the ultrasonic probe in the space.
The following describes the determination of the plane position, plane rotation angle theta and space rotation angle of the ultrasonic probe by using the ultrasonic coupling pad
The method of (1):
taking a common linear array ultrasonic probe as an example in the present embodiment, when the ultrasonic probe is placed at the middle position of the top surface 101 of the ultrasonic coupling pad as shown in fig. 2, according to the ultrasonic imaging principle, the sound wave information reflected by the first group of reflected particle lines will appear as P, A, O, B four points, and the sound wave information reflected by the second group of reflected particle lines will appear as M, N, K three points along the depth direction of the ultrasonic coupling pad.
Step 1: the position of the left side and the right side of the ultrasonic probe in the initial state is determined by using the position relation of P, A. If the left side of the ultrasound probe is close to point P, then the two immediately adjacent points will appear on the left side of the imaging, whereas if the two immediately adjacent points appear on the right side of the imaging, then the right side of the ultrasound probe is close to point P at this time.
Step 2: the position of the ultrasonic probe on the ultrasonic coupling gasket is judged by using three points A, O, B, and the specific judgment mode is as follows: determining the position of the current ultrasonic probe on the reflecting particle line 1 according to the length ratio of the line segment AO to the line segment OB; when the ultrasonic probe moves along the reflective particle line 1, the lengths of the line segment AO and the line segment OB change, the ratio of the line segment AO and the line segment OB is in one-to-one correspondence with the current position of the ultrasonic probe on the reflective particle line 1, and if L is equal to L, the length of the line segment AO and the length of the line segment OB are equal to LAO/LOB>1, the ultrasonic probe is positioned on the left side of the ultrasonic coupling gasket, and on the contrary, the ultrasonic probe is positioned on the right side of the ultrasonic coupling gasket.
The same conclusions can be drawn with a similar triangle as described in figure 3 when the ultrasound probe is subjected to a plane deflection angle around point O. Specifically, the passing point O is taken as a perpendicular line of the reflective particle line 2 and the reflective particle line 4 to obtain the feet a 'and B', respectively, and obtain two similar triangles AA 'O and BB' O, and the position of the current ultrasonic probe on the coupling pad can be determined according to the length ratio of the line segment AO to the line segment OB according to the proportional relationship of the corresponding sides of the similar triangles.
And step 3: determining the plane rotation angle theta between the ultrasonic probe and the reflective particle line 1 by utilizing the three points A, O and B; the crossing point A is used as the perpendicular line AH of the reflecting particle line 4, the length of AH is known from the initial design, and the sine value of the plane rotation angle theta is calculated according to the AB length obtained in the imaging, and the sine value corresponds to two angles in the range of 0-180 degrees.
If A is on the right side of B as shown in FIG. 4, i.e., the abscissa of A is greater than the abscissa of B, the angle is 0-90 °;
θ＝arcsin(LAH/LAB)
if A is to the left of B, i.e. the abscissa of A is smaller than the abscissa of B, as shown in FIG. 5, the angle is 90-180.
θ＝180°-arcsin(LAH/LAB)
And 4, step 4: determining the spatial rotation angle of the ultrasonic probe by using M, N, K points
；
When the ultrasound probe is placed as shown in figures 6-8, the acoustic information reflected back by the second set of reflected particle lines 5-7 will appear to yield three imaging points M, N, K along the depth of the ultrasound coupling pad, according to the principles of ultrasound imaging;
if the vertical scan is performed, the horizontal and vertical scales of the M, N, K points are the same, as shown in FIG. 6; determining the abscissa position of the current ultrasonic probe on the ultrasonic coupling gasket according to the length ratio of the line segment MN to the line segment NK, wherein the judging method is the same as the step 2, and the detailed description is omitted;
when the angle phi is rotated in space, the change shown in FIGS. 7-8 is observed in the image, the point M is crossed to be the perpendicular MH 'of the reflective grain line 7, the length of MH' is known from the initial design, the length of MK can be obtained by the image formation, and the angle alpha, namely the angle alpha can be calculated
α＝arccos(LMH'/LMK)
Therefore, the spatial rotation angle can be calculated according to the spatial angle relation and alpha
。
If M is on the right side of K, i.e. the abscissa of M is greater than the abscissa of K, as shown in FIG. 7, the spatial rotation angle φ is 90-180 °, and the calculation formula is:
if M is to the left of K, as shown in FIG. 8, i.e., the abscissa of M is smaller than the abscissa of K, the angle is 0-90, and the calculation formula is:
the ultrasonic coupling gasket is used, the reflecting particle lines in the specific shapes are pre-embedded in the ultrasonic coupling gasket, the plane position, the plane rotation angle and the space rotation angle of the ultrasonic probe can be determined through ultrasonic imaging, the three data can be used for uniquely determining the space position of the ultrasonic probe in space, and therefore the position information is used in subsequent intelligent ultrasonic.
The present invention is capable of other embodiments, and various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention.
Claims (8)
1. An ultrasonic probe is from positioner which characterized in that: the ultrasonic simulation device comprises an ultrasonic simulation body, wherein reflective particle lines which are arranged in a certain form are embedded in the ultrasonic simulation body.
2. The ultrasonic probe self-positioning device of claim 1, wherein: the ultrasonic imitator is an ultrasonic coupling gasket (10).
3. The ultrasound probe self-positioning device of claim 2, wherein: the first group of reflective particle lines (20) comprises reflective particle lines 1-4(1, 2, 3, 4) which are linearly arranged and are transversely arranged on the top surface (101) of the ultrasonic coupling gasket, wherein the reflective particle lines 2-4 form an N shape, and the reflective particle lines 1(1) and the reflective particle lines 2(2) are parallel and closely arranged and form a 1N shape; the second group of reflective particle lines (30) comprises reflective particle lines 5-7(5, 6, 7) which are linearly arranged, are longitudinally arranged on the longitudinal central plane of the ultrasonic coupling gasket and are in an N shape.
4. A method of self-positioning of an ultrasound probe self-positioning device according to claim 3: the method is characterized in that: during operation, the top surface (101) of the ultrasonic coupling gasket is attached to the ultrasonic probe, the bottom surface (102) of the ultrasonic coupling gasket is placed on a contact plane, and the plane position, the plane rotation angle theta and the space rotation angle of the ultrasonic probe are determined according to ultrasonic imaging of a reflection particle line preset in the ultrasonic coupling gasket
Thereby determining the spatial position of the ultrasound probe.
5. The self-positioning method of an ultrasonic probe self-positioning device according to claim 4, characterized in that: the method for determining the plane position, the plane rotation angle and the space rotation angle of the ultrasonic probe comprises the following steps: according to the ultrasonic imaging principle, echo information reflected by the first group of reflected particle lines is represented by P, A, O, B four points in the width direction of the ultrasonic coupling gasket, and sound wave information reflected by the second group of reflected particle lines is represented by M, N, K three points in the depth direction of the ultrasonic coupling gasket;
step 1: determining the positions of the left side and the right side of the ultrasonic probe in the initial state by using the position relation of P, A;
step 2: judging the plane position of the ultrasonic probe on the ultrasonic coupling gasket by using the A, O, B points;
and step 3: determining the plane rotation angle theta of the ultrasonic probe by using three points A, O, B;
and 4, step 4: determining the spatial rotation angle of the ultrasonic probe by using M, N, K points
6. The self-positioning method of an ultrasonic probe self-positioning device according to claim 5, characterized in that: in step 2, the specific manner of judging the plane position of the ultrasonic probe on the ultrasonic coupling gasket is as follows: and determining the plane position of the current ultrasonic probe according to the length ratio of the line segment AO to the line segment OB.
7. The self-positioning method of an ultrasonic probe self-positioning device according to claim 5, characterized in that: in step 3, the method for determining the plane rotation angle θ of the ultrasonic probe comprises the following steps: the crossing point A is used as the perpendicular line AH of the reflecting particle line 4, the length of AH is known from the initial design, and the plane rotation angle theta, namely
θ＝arcsin(LAH/LAB) Or θ 180 ° -arcsin (L)AH/LAB)。
8. The self-positioning method of an ultrasonic probe self-positioning device according to claim 5, characterized in that: in step 4, the method for determining the spatial rotation angle of the ultrasonic probe comprises the following steps: the crossing point M is used as the perpendicular MH 'of the reflecting grain line 7, the length of MH' can be known from the initial design, the length of MK can be obtained by imaging, and the angle alpha, namely
α＝arccos(LMH'/LMK)
According to the spatial angle relation and alpha, the spatial rotation angle can be calculated
Namely, it is
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Application publication date: 20220118 |