CN206612810U - A kind of electromagnetic location and B ultrasound integrated probe caliberating device - Google Patents
A kind of electromagnetic location and B ultrasound integrated probe caliberating device Download PDFInfo
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- CN206612810U CN206612810U CN201621320649.2U CN201621320649U CN206612810U CN 206612810 U CN206612810 U CN 206612810U CN 201621320649 U CN201621320649 U CN 201621320649U CN 206612810 U CN206612810 U CN 206612810U
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Abstract
The utility model discloses a kind of electromagnetic location and B ultrasound integrated probe caliberating device, including tank and nylon wire, tank by inside and outside two layers totally three it is transparent without top rectangular parallelepiped structure constitute, internal layer tank includes two rectangular parallelepiped structures, two larger opposite faces of each internal layer cuboid tank, which are drilled with, is distributed same hole, and outer layer cuboid tank can accommodate two internal layer cuboid tanks；Nylon wire is fixed in two internal layer tanks by the hole and plastics adhesive of flume wall, nylon wire in one of internal layer tank has four, it is divided into two groups, every group of two lines are parallel across the tank, two groups of lines intersect to form " well " word structure, using " well " word structure intersection point as ultrasonoscopy mark point；Nylon wire in another internal layer tank is made up of two parallel lines and an oblique line, forms " N " word structure.The utility model is simple and reliable for structure, build convenience, highly versatile, stated accuracy high.
Description
Technical field
The utility model is related to medical ultrasound image and merges field with magnetic tracking, refers in particular to a kind of electromagnetic location
With B ultrasound integrated probe caliberating device.
Background technology
Medical ultrasound image has had more wide as cheap, the real-time Image Examination of one kind in medical science
General application.Most popular in clinic at present is B-mode ultrasonography (i.e. B ultrasound).The two-dimentional shadow that simple B ultrasound is obtained
Picture, it is impossible to be supplied to doctor's intuitively stereoeffect.With the development of computer technology, 3-D supersonic imaging can be in clinic
It is upper to obtain ideal 3-D view.At present, 3-D supersonic imaging is completed on the basis of two-dimensional imaging mostly, is passed through
Ultrasonic echo sampling to target area, obtains the volume data required for three-D ultrasonic, that is, is gathering a series of two dimensional images
On the basis of reconstruct 3-D view.
Although 3-D supersonic imaging can provide intuitively image effect for doctor, three-dimensional imaging computational methods are more complicated,
Higher is required to probe, and three-dimensional position is needed in the clinical practice having but 3-D view is not needed.Such as ultrasonic navigation, is obtained
To obtain 3-D view even more important for the space coordinate ratio of certain point on to ultrasonoscopy.Therefore need to obtain ultrasonoscopy X-Y scheme
As the coordinate conversion relation of the corresponding three-dimensional coordinate in upper certain point, this process is referred to as the demarcation of ultrasonic probe.
Obtaining the conventional method of ultrasonic probe demarcation at present has three kinds：
Ultrasonic probe is demarcated using optictracking device.During demarcation, demand goes out smart between optictracking device and Ultrasonic-B probe
True locus.In demarcation, the error that the bad adaptability and reduction unloading process brought in order to avoid collaborative design are brought,
Accelerate demarcation speed, generally require to design a kind of special construction and the higher calibrating patterns of precision.The calculating that calibration process is related to
Relatively complicated, calibration process can not block optictracking device.It is more using limiting, it is unfavorable for promoting.
Ultrasonic probe is demarcated using electromagnetic location mode, electromagnetic location sensor is generally fixed on ultrasonic spy by this mode
On head.During demarcation, calibration result is obtained using the geometry site of stationary fixture, or first completes the sky of probe imaging plane
Between position demarcation.Using the calibration result of geometry site because part is idealized as into a point or one when calculating
Face, precision is not high；First the calculating process of the demarcation of demarcation imaging plane is complicated, and is not directly available certain on ultrasonoscopy
The space coordinate of a bit.
Probe demarcation is realized by the machinery positioning mode such as support and video camera.Demarcation before, it is necessary to make space structure compared with
Complexity, and precision very high caliberating device, and calculating process is relatively complicated.
Therefore, design a kind of independent of complicated caliberating device is made, calculating process is less, logical compared with simple, demarcation flow
With property is strong and the higher electromagnetic location of stated accuracy and B ultrasound integrated probe caliberating device and scaling method, for improving B ultrasound
Precision has very big necessity, is technical problem urgently to be resolved hurrily in the prior art.
The content of the invention
The purpose of this utility model be to overcome the shortcoming and defect of prior art there is provided one kind it is simple and reliable for structure,
Build the high electromagnetic location of convenience, highly versatile, stated accuracy and B ultrasound integrated probe caliberating device.
To achieve the above object, technical scheme provided by the utility model is：A kind of electromagnetic location is integrated with B ultrasound to be visited
Head caliberating device, including tank and nylon wire, the tank by inside and outside two layers totally three it is transparent constituted without top rectangular parallelepiped structure, it is interior
Layer tank includes two rectangular parallelepiped structures, and two larger opposite faces of each internal layer cuboid tank, which are drilled with, is distributed same hole,
Aperture is identical, and outer layer cuboid tank can accommodate two internal layer cuboid tanks；The nylon wire by the hole of flume wall and
Plastics adhesive is fixed in two internal layer tanks, and the nylon wire in one of internal layer tank has four, is divided into two groups, every group
Two lines parallel across the tank, two groups of lines intersect to form " well " word structure, using the intersection point of " well " word structure as super
The mark point of acoustic image；Nylon wire in another internal layer tank is made up of two parallel lines and an oblique line, forms " N " word
Structure, using " N " word structure and ultrasonic imaging plane intersection point as ultrasonoscopy mark point.
When device is fabricated, known to the relative position relation of the nylon wire and internal layer tank；Demarcation integration is visited
Before head, pure water is injected into tank, during the demarcation plane of scanning motion, integrated probe is scanned in tank more long and narrow direction.
The utility model compared with prior art, has the following advantages that and beneficial effect：
1st, the utility model calibration tool is simple, and material is easy to get, and makes easy.
2nd, the utility model calculating process is simple, and the two dimensional image put in plane of ultrasound calculates three under world coordinate system
During dimension coordinate, it is not necessary to first determine the position of plane of ultrasound.
3rd, accurate three-dimensional position can be obtained on the basis of existing two-dimensional ultrasound equipment, it is easy to popularization and application.
4th, scaling method is harmless, suitable for medical applications such as obstetrics.
Brief description of the drawings
Fig. 1 is electromagnetic location and the stereo appearance figure of the caliberating device of B ultrasound integrated probe.
Fig. 2 is electromagnetic location and the usage scenario figure of the caliberating device of B ultrasound integrated probe.
Fig. 3 a are electromagnetic location and the stereo appearance figure of caliberating device internal layer " N " line tank of B ultrasound integrated probe.
Fig. 3 b are electromagnetic location and caliberating device internal layer " N " line tank " N " line scanning figure of B ultrasound integrated probe.
Fig. 4 a are electromagnetic location and the stereo appearance figure of caliberating device internal layer " well " line tank of B ultrasound integrated probe.
Fig. 4 b are electromagnetic location and caliberating device internal layer " well " line tank " well " line scanning figure of B ultrasound integrated probe.
In figure, 10 represent outer layer tank, and 20 represent internal layer " N " line tank, and two of 21 expression internal layer " N " line tanks are parallel
Nylon wire, 22 represent the inclination nylon wire of internal layer " N " line tank, and 30 represent internal layer " well " line tank, and 31 represent internal layer " well " line
The mutual horizontal nylon wire of one group of tank, 32 represent another group of mutual horizontal nylon wire of internal layer " well " line tanks, 40 tables
Show electromagnetic location and B ultrasound integrated probe.
Embodiment
The utility model is described further with reference to specific embodiment.
As shown in Figure 1 to Figure 4 shown in b, the electromagnetic location that the present embodiment is provided and the caliberating device of B ultrasound integrated probe, bag
Include：One outer layer tank 10, an internal layer " N " line tank 20, an internal layer " well " line tank 30.The outer layer tank 10 is cube knot
Structure, inside is fixed with internal layer " N " line tank 20 and internal layer " well " line tank 30, and internal layer inboard wall of cistern posts sound-absorbing material.Internal layer
The hole that " N " line tank 20 has two parallel nylon wires 21 and a nylon wire 22 sideling through flume wall is fixed by adhesive
In tank, using " N " word structure and ultrasonic imaging plane intersection point A, B, C as ultrasonoscopy mark point.Internal layer " well "
Line tank 30 has four nylon wires, is denoted as 31,32 two groups, and the hole of every group of nylon wire through flume wall is fixed on water by adhesive
In groove, two groups of lines intersect to form " well " word structure, using marks of " well " word horizontal direction intersection point J1, J2 as ultrasonoscopy
Point.
When above-mentioned caliberating device carries out demarcation electromagnetic location with B ultrasound integrated probe 40, vernier caliper measurement is used first
Distance of the mark point of " well " line two under world coordinate system.Then the one under world coordinate system is recorded by electromagnetic positioning system
Change the coordinate, the drift angle coordinate of internal layer " N " line tank 20, the coordinate of the end points of " N " line oblique line 22 of probe 40.Swept using integrated probe
The nylon wire of internal layer tank is retouched, as shown in Fig. 3 b, Fig. 4 b.Plane of ultrasound is crossed to form 3 mark points with " N ", is denoted as A, B, C.
When plane of ultrasound intersects with " well " line, image during 2 mark points is taken, J1, J2 is denoted as.By carrying out binaryzation after given threshold
Processing, automatically extracts out point coordinates in speck, automatically derives the coordinate that dot center is marked under image coordinate system.
Mark point J1, J2 is calculated in spacing, and then obtains pixel actual size.Because " N " word construction nylon line and ultrasound
Intersection formation two similar triangles Δ BEA, the Δ BFC of plane, due to the generation of the drift angle of two triangles, i.e. nylon line endpoints
Coordinate under boundary's coordinate system is, it is known that utilize similarity relation, you can try to achieve the oblique line and plane of ultrasound of 20 groups of " N " word construction nylon lines
Coordinate P of the intersection points B under world coordinate systemw.The spacing of mark point A, B and mark point A, C is calculated, and then obtains Δ BEA and Δ
BFC similar proportion.Coordinates of the mark point B under world coordinate system can be calculated by formula and obtained：
pw=ew+kl×(fw-ew),
And the spin matrix R that image coordinate is tied to world coordinate system can be obtained by calculation formula, V, U are to use SVD side
The square formation that method is tried to achieve：
R=VTU,
The translation matrix T that image coordinate is tied to world coordinate system can be calculated by following formula：
It is that the coordinate under corresponding world coordinate system is obtained by image coordinate by spin matrix R, translation matrix T, thus,
Produce calibration result.
Embodiment described above is only the preferred embodiment of the utility model, not limits implementation of the present utility model with this
Scope, therefore the change that all shape, principles according to the utility model are made, all should cover in protection domain of the present utility model.
Claims (1)
1. a kind of electromagnetic location and B ultrasound integrated probe caliberating device, it is characterised in that：Including tank and nylon wire, the water
Groove by inside and outside two layers totally three it is transparent constituted without top rectangular parallelepiped structure, internal layer tank includes two rectangular parallelepiped structures, each internal layer
Two larger opposite faces of cuboid tank, which are drilled with, is distributed same hole, and aperture is identical, and outer layer cuboid tank can accommodate two
Individual internal layer cuboid tank；The nylon wire is fixed in two internal layer tanks by the hole and plastics adhesive of flume wall, its
In nylon wire in an internal layer tank have four, be divided into two groups, every group of two lines parallel across the tank, two groups of lines are handed over
Fork-shaped into " well " word structure, using " well " word structure intersection point as ultrasonoscopy mark point；In another internal layer tank
Nylon wire be made up of two parallel lines and an oblique line, formed " N " word structure, using " N " word structure and ultrasonic imaging plane
Intersection point as ultrasonoscopy mark point；Before demarcation integrated probe, pure water is injected into tank, the plane of scanning motion is demarcated
When, integrated probe is scanned in tank more long and narrow direction.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621320649.2U CN206612810U (en) | 2016-12-05 | 2016-12-05 | A kind of electromagnetic location and B ultrasound integrated probe caliberating device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621320649.2U CN206612810U (en) | 2016-12-05 | 2016-12-05 | A kind of electromagnetic location and B ultrasound integrated probe caliberating device |
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| CN206612810U true CN206612810U (en) | 2017-11-07 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111207671A (en) * | 2020-03-03 | 2020-05-29 | 上海御微半导体技术有限公司 | Position calibration method and position calibration device |
| CN112129405A (en) * | 2020-10-22 | 2020-12-25 | 南京广慈医疗科技有限公司 | Portable precision detection device of HIFU diagnosis and treatment system |
-
2016
- 2016-12-05 CN CN201621320649.2U patent/CN206612810U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111207671A (en) * | 2020-03-03 | 2020-05-29 | 上海御微半导体技术有限公司 | Position calibration method and position calibration device |
| CN111207671B (en) * | 2020-03-03 | 2022-04-05 | 合肥御微半导体技术有限公司 | Position calibration method and position calibration device |
| CN112129405A (en) * | 2020-10-22 | 2020-12-25 | 南京广慈医疗科技有限公司 | Portable precision detection device of HIFU diagnosis and treatment system |
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