技术领域technical field
本发明属于医学三维超声弹性成像的技术领域，特别涉及一种超声弹性成像的扫描装置及其扫描方法。The invention belongs to the technical field of medical three-dimensional ultrasonic elastography, and in particular relates to a scanning device for ultrasonic elastography and a scanning method thereof.
背景技术Background technique
弹性是表征一种物质物理特性的重要参数，其中测量某种物质的弹性或者对它的弹性特性分布进行成像对于了解该种物质的属性及结构是一种相当重要的手段，其中组织弹性对疾病的诊断具有重要的参考价值。超声弹性成像能提供与组织异常的病理状态密切相关的组织弹性信息，超声弹性成像通过探头获取感兴趣区中同一位置两次不同的压力下超声回波信号的波形，并利用两次回波信号进行相关运算，获取相应的组织弹性信息。其中超声探头对组织扫描的压力大小、移动速度和扫描方向等会直接影响到弹性成像的质量。Elasticity is an important parameter to characterize the physical properties of a substance. Measuring the elasticity of a certain substance or imaging its distribution of elastic properties is a very important means for understanding the properties and structure of the substance. Among them, tissue elasticity plays an important role in diseases. The diagnosis has important reference value. Ultrasound elastography can provide tissue elasticity information that is closely related to the pathological state of tissue abnormalities. Ultrasound elastography obtains the waveforms of ultrasonic echo signals under two different pressures at the same position in the region of interest through the probe, and uses the two echo signals to perform Correlation calculations to obtain the corresponding tissue elasticity information. Among them, the pressure, moving speed and scanning direction of the ultrasonic probe on tissue scanning will directly affect the quality of elastography.
现有的超声弹性成像技术中，常用的扫描方法主要有：自由臂扫描、二维面阵探头扫描和机械定位扫描；其中自由臂扫描系统，需要6个自由度的电磁式位置传感器定位，操作复杂，同时极易受到电磁、铁磁材料等干扰。基于二维面阵探头的扫描方式由于二维面阵的阵元数量巨大，每个阵元都要配置相应的采集通道，因此对技术手段和采用的设备要求较高。基于这两种扫描方式进行扫描时，探头对被扫描组织的压力很难保持均匀恒定，探头移动的速度和方向也会发生变化，因此对生成的弹性图像有很大的影响。传统的机械定位扫描方式，虽然可以保证探头移动速度和方向的恒定，但由于事先无法准确得到被检测组织的表面深度信息，因而扫描过程中会出现接触不到组织或者对组织压力过大两种情况，即仍然无法保证探头对被扫描组织的压力均匀恒定。In the existing ultrasonic elastography technology, the commonly used scanning methods mainly include: free-arm scanning, two-dimensional area array probe scanning and mechanical positioning scanning; among them, the free-arm scanning system requires electromagnetic position sensors with 6 degrees of freedom for positioning and operation. It is complex and highly susceptible to interference from electromagnetic and ferromagnetic materials. The scanning method based on the two-dimensional area array probe has a large number of array elements in the two-dimensional area array, and each array element must be equipped with a corresponding acquisition channel, so the requirements for technical means and equipment used are relatively high. When scanning based on these two scanning methods, it is difficult to keep the pressure of the probe on the scanned tissue uniform and constant, and the speed and direction of the probe's movement will also change, which has a great impact on the generated elastic image. Although the traditional mechanical positioning scanning method can ensure the constant moving speed and direction of the probe, because the surface depth information of the detected tissue cannot be obtained accurately in advance, there will be two problems: no contact with the tissue or excessive pressure on the tissue during the scanning process. situation, that is, it is still impossible to ensure that the pressure of the probe on the scanned tissue is uniform and constant.
发明内容Contents of the invention
本发明的目的在于克服现有技术的缺点与不足，提供一种对扫描组织压力均匀的超声弹性成像的扫描装置。The object of the present invention is to overcome the disadvantages and deficiencies of the prior art, and provide a scanning device for ultrasonic elastography with uniform pressure on the scanned tissue.
本发明的另一目的在于提供上述超声弹性成像的扫描装置的扫描方法。Another object of the present invention is to provide a scanning method of the scanning device for ultrasound elastography.
本发明的第一目的通过下述技术方案实现：一种超声弹性成像的扫描装置，包括计算机以及与计算机连接的超声探头，还包括用于固定超声探头的支架以及分别与计算机连接的运动控制装置和深度感应器；所述支架设置在运动控制装置上；所述运动控制装置包括控制超声探头进行三维运动的三维运动控制机构和控制超声探头进行旋转运动的旋转运动控制机构，所述三维运动控制机构和旋转运动控制机构分别与计算机连接。The first object of the present invention is achieved through the following technical solutions: a scanning device for ultrasonic elastography, including a computer and an ultrasonic probe connected to the computer, and also includes a bracket for fixing the ultrasonic probe and a motion control device connected to the computer respectively and a depth sensor; the bracket is arranged on a motion control device; the motion control device includes a three-dimensional motion control mechanism for controlling the ultrasonic probe to perform three-dimensional motion and a rotary motion control mechanism for controlling the ultrasonic probe to perform rotational motion, and the three-dimensional motion control The mechanism and the rotary motion control mechanism are respectively connected with the computer.
优选的，所述三维运动控制机构包括第一、第二和第三步进电机、电机驱动器和电机控制模块，所述第一、第二和第三电机分别通过电机驱动器与电机控制电路板连接，所述电机控制电路板与计算机连接，所述第一、第二和第三步进电机上分别连接有运动轴，所述三根运动轴分别呈X、Y和Z轴的三维方向排布，其中X轴方向表示左、右方向，Y轴方向表示前、后方向，Z轴方向表示上、下方向；所述支架设置在Z轴方向的运动轴上；所述第一、第二和第三步进电机通过其上的运动轴分别控制支架在X、Y和Z轴方向上移动；Preferably, the three-dimensional motion control mechanism includes first, second and third stepper motors, a motor driver and a motor control module, and the first, second and third motors are respectively connected to the motor control circuit board through the motor driver , the motor control circuit board is connected to the computer, the first, second and third stepping motors are respectively connected with motion shafts, and the three motion shafts are respectively arranged in three-dimensional directions of X, Y and Z axes, Wherein the X-axis direction represents the left and right directions, the Y-axis direction represents the front and rear directions, and the Z-axis direction represents the up and down direction; the support is arranged on the motion axis in the Z-axis direction; the first, second and second The three stepper motors control the movement of the bracket in the X, Y and Z axis directions respectively through the motion axes on it;
旋转运动控制机构包括第四步进电机、第五步进电机、第六步进电机、电机驱动器和电机控制模块，第四步进电机、第五步进电机和第六步进电机分别依次通过电机驱动器和电机控制模块与计算机连接，第四步进电机与所述Z轴方向的运动轴连接，用于控制Z轴方向运动轴自转；第五步进电机与所述X轴方向的运动轴连接，用于控制X轴方向运动轴自转；第六步进电机与所述Y轴方向的运动轴连接，用于控制Y轴方向运动轴自转。The rotary motion control mechanism includes a fourth stepping motor, a fifth stepping motor, a sixth stepping motor, a motor driver and a motor control module, and the fourth stepping motor, the fifth stepping motor and the sixth stepping motor respectively pass through The motor driver and the motor control module are connected with the computer, and the fourth stepper motor is connected with the motion shaft in the Z-axis direction for controlling the rotation of the motion shaft in the Z-axis direction; the fifth stepper motor is connected with the motion shaft in the X-axis direction connected to control the rotation of the motion shaft in the X-axis direction; the sixth stepping motor is connected to the motion shaft in the Y-axis direction and used to control the rotation of the motion shaft in the Y-axis direction.
优选的，所述深度感应器安装于扫描组织的上方，其探测范围为10cm～400cm。Preferably, the depth sensor is installed above the scanned tissue, and its detection range is 10cm-400cm.
本发明的第二目的通过下述技术方案实现：The second purpose of the present invention is achieved through the following technical solutions:
一种超声弹性成像的扫描装置的扫描方法，包括以下步骤：A scanning method of a scanning device for ultrasonic elastography, comprising the following steps:
（1）利用深度感应器获取扫描组织的表面深度图像信息，根据表面深度图像信息，重建出扫描组织表面的三维轮廓图；(1) Use the depth sensor to obtain the surface depth image information of the scanned tissue, and reconstruct the three-dimensional contour map of the scanned tissue surface according to the surface depth image information;
（2）根据扫描组织表面的三维轮廓图制定扫描轨迹；然后根据扫描组织表面的曲率大小，计算出扫描轨迹中各扫描点的法向量，并保存在计算机中；(2) Formulate the scanning trajectory according to the three-dimensional contour map of the scanned tissue surface; then calculate the normal vector of each scanning point in the scanning trajectory according to the curvature of the scanned tissue surface, and save it in the computer;
（3）控制超声探头移动到扫描轨迹的起始点；(3) Control the ultrasonic probe to move to the starting point of the scanning track;
（4）通过计算机查询到超声探头所在当前扫描点的位置信息及法向量信息；所述三维运动控制机构根据当前扫描点的位置信息控制支架上的超声探头在三维各方向上移动，并通过旋转运动控制机构控制超声探头绕三维各方向分别旋转相应角度，直到超声探头贴着被扫描组织的表面并与当前扫描点的法向量平行；(4) Query the position information and normal vector information of the current scanning point where the ultrasonic probe is located through the computer; the three-dimensional motion control mechanism controls the ultrasonic probe on the bracket to move in all directions in three dimensions according to the position information of the current scanning point, and rotates The motion control mechanism controls the ultrasonic probe to rotate corresponding angles around each three-dimensional direction until the ultrasonic probe is attached to the surface of the scanned tissue and parallel to the normal vector of the current scanning point;
（5）采集超声探头当前所处扫描点的超声回波信号，然后通过三维运动控制机构控制超声探头沿着该扫描点法向量指向组织表面的方向运动d距离，再次采集超声回波信号，将该扫描点的位置信息以及两次采集到的超声回波信号进行储存到计算机中；三维运动控制机构控制超声探头沿该扫描点法向量背向组织表面的方向运动d距离，超声探头恢复到当前所处扫描点上的原位置上；同时判断该扫描点是否为扫描轨迹中的最后一个扫描点；(5) Collect the ultrasonic echo signal of the scanning point where the ultrasonic probe is currently located, and then control the ultrasonic probe to move along the direction of the normal vector of the scanning point pointing to the tissue surface for a distance of d through the three-dimensional motion control mechanism, and collect the ultrasonic echo signal again. The position information of the scanning point and the ultrasonic echo signals collected twice are stored in the computer; the three-dimensional motion control mechanism controls the ultrasonic probe to move along the direction of the normal vector of the scanning point away from the tissue surface for a distance of d, and the ultrasonic probe returns to the current position. At the original position on the scanning point; at the same time, it is judged whether the scanning point is the last scanning point in the scanning track;
若是，则三维超声弹性成像的扫描结束；If so, the scanning of the three-dimensional ultrasound elastography ends;
若否，则执行步骤（6）；If not, go to step (6);
（6）计算出扫描轨迹中下一个扫描点和当前扫描点在三维各方向上的距离以及在三维各方向上的角度偏差，通过三维运动控制机构控制超声探头在三维的各方向上同时移动相应距离，同时要通过旋转运动控制机构控制超声探头绕三维的各方向分别进行相应的角度旋转，到达下一个要扫描的点，使超声探头贴着被扫描组织的表面并与其所在扫描点的法向量平行；然后回到步骤（5）。(6) Calculate the distance between the next scanning point in the scanning trajectory and the current scanning point in all three-dimensional directions and the angular deviation in all three-dimensional directions, and control the ultrasonic probe to move correspondingly in all three-dimensional directions through the three-dimensional motion control mechanism. At the same time, the ultrasonic probe should be controlled by the rotary motion control mechanism to rotate at corresponding angles around each three-dimensional direction to reach the next point to be scanned, so that the ultrasonic probe is attached to the surface of the scanned tissue and the normal vector of the scanning point where it is located parallel; then go back to step (5).
优选的，所述步骤（1）中通过多帧表面深度图像信息来重建扫描组织表面的三维轮廓图。Preferably, in the step (1), the three-dimensional contour map of the scanned tissue surface is reconstructed by using multiple frames of surface depth image information.
优选的，所述步骤（5）中三维运动控制机构控制超声探头沿着该扫描点法向量指向组织表面的方向运动的距离d为1～3mm。Preferably, in the step (5), the three-dimensional motion control mechanism controls the moving distance d of the ultrasonic probe along the direction in which the normal vector of the scanning point points to the tissue surface to be 1-3 mm.
优选的，所述步骤（2）中还制定了超声探头的扫描速度、扫描范围、三维运动控制机构和旋转运动控制机构的步进距离以及超声探头的旋转角度。Preferably, in the step (2), the scanning speed and scanning range of the ultrasonic probe, the stepping distances of the three-dimensional motion control mechanism and the rotary motion control mechanism, and the rotation angle of the ultrasonic probe are also formulated.
本发明相对于现有技术具有如下的优点及效果：Compared with the prior art, the present invention has the following advantages and effects:
本发明扫描装置通过三维运动控制机构以及旋转运动控制机构控制超声探头每次扫描时都能紧贴组织表面且与扫描点的法向量平行，保证了在扫描过程中超声探头与扫描组织表面垂直，以获得能够更加准确反应组织弹性信息的超声回波信号；另外本发明中每次针对扫描组织进行压缩的距离为固定值，保证了每个扫描点在压缩前后所受的压力都是均匀恒定的。克服了现有技术中机械定位扫描方式难以做到以均匀压力对组织进行扫描的缺陷，所得到的超声弹性图像更加准确、清晰，能够更生动地显示、定位病灶及鉴别病灶性质。The scanning device of the present invention controls the ultrasonic probe to be close to the tissue surface and parallel to the normal vector of the scanning point through the three-dimensional motion control mechanism and the rotary motion control mechanism, ensuring that the ultrasonic probe is perpendicular to the scanning tissue surface during the scanning process. To obtain ultrasonic echo signals that can more accurately reflect tissue elasticity information; in addition, in the present invention, the compression distance for each scanning tissue is a fixed value, which ensures that the pressure on each scanning point before and after compression is uniform and constant . It overcomes the defect that it is difficult to scan the tissue with uniform pressure in the mechanical positioning scanning method in the prior art, and the obtained ultrasonic elastic image is more accurate and clear, and can display, locate and identify the lesion more vividly.
附图说明Description of drawings
图1是本发明扫描装置的组成框图。FIG. 1 is a block diagram of the scanning device of the present invention.
图2是本发明扫描装置中各部分的结构示意图。FIG. 2 is a schematic structural diagram of various parts of the scanning device of the present invention.
图3是本发明扫描方法的流程图。Fig. 3 is a flowchart of the scanning method of the present invention.
图4a是本发明扫描方法重建的三维轮廓图。Fig. 4a is a three-dimensional contour map reconstructed by the scanning method of the present invention.
图4b是本发明扫描方法重建的三维轮廓图上的扫描轨迹以及法向量示意图。Fig. 4b is a schematic diagram of the scanning trajectory and the normal vector on the three-dimensional contour map reconstructed by the scanning method of the present invention.
具体实施方式Detailed ways
下面结合实施例及附图对本发明作进一步详细的描述，但本发明的实施方式不限于此。The present invention will be further described in detail below in conjunction with the embodiments and the accompanying drawings, but the embodiments of the present invention are not limited thereto.
实施例Example
如图1所示，本实施例公开了一种超声弹性成像的扫描装置，包括计算机1、与计算机1连接的超声探头3、用于固定超声探头的支架以及分别与计算机1连接的运动控制装置和深度感应器2；支架设置在运动控制装置上；运动控制装置包括控制超声探头进行三维运动的三维运动控制机构4和控制超声探头进行旋转运动的旋转运动控制机构5，所述三维运动控制机构4和旋转运动控制机构5分别与计算机连接。As shown in Figure 1, this embodiment discloses a scanning device for ultrasonic elastography, including a computer 1, an ultrasonic probe 3 connected to the computer 1, a bracket for fixing the ultrasonic probe, and a motion control device respectively connected to the computer 1 and a depth sensor 2; the bracket is arranged on the motion control device; the motion control device includes a three-dimensional motion control mechanism 4 for controlling the three-dimensional motion of the ultrasonic probe and a rotary motion control mechanism 5 for controlling the rotational motion of the ultrasonic probe, the three-dimensional motion control mechanism 4 and the rotary motion control mechanism 5 are respectively connected with the computer.
本实施例中三维运动控制机构包括第一、第二和第三步进电机、电机驱动器和电机控制模块，第一、第二和第三电机分别通过电机驱动器与电机控制电路板连接，电机控制电路板与计算机连接，所述第一、第二和第三步进电机上分别连接有运动轴，三根运动轴分别呈X、Y和Z轴的三维方向排布，其中X轴方向表示左、右方向，Y轴方向表示前、后方向，Z轴方向表示上、下方向；所述支架设置在Z轴方向的运动轴上；第一、第二和第三步进电机通过其上的运动轴分别控制支架在X、Y和Z轴方向上移动；In this embodiment, the three-dimensional motion control mechanism includes the first, second and third stepping motors, motor drivers and motor control modules, the first, second and third motors are respectively connected to the motor control circuit board through the motor driver, and the motor control The circuit board is connected to the computer, and the first, second and third stepping motors are respectively connected with motion shafts, and the three motion shafts are respectively arranged in three-dimensional directions of X, Y and Z axes, wherein the direction of the X axis represents the left, The right direction, the Y axis direction represents the front and rear directions, and the Z axis direction represents the up and down direction; the support is arranged on the motion axis in the Z axis direction; the first, second and third stepping motors pass through the movement The axes respectively control the movement of the bracket in the directions of X, Y and Z axes;
旋转运动控制机构包括第四步进电机、第五步进电机、第六步进电机、电机驱动器和电机控制模块，第四步进电机、第五步进电机和第六步进电机分别依次通过电机驱动器和电机控制模块与计算机连接，第四步进电机与所述Z轴方向的运动轴连接，用于控制Z轴方向运动轴自转，以使得支架上的超声探头绕Z轴旋转；第五步进电机与所述X轴方向的运动轴连接，用于控制X轴方向运动轴自转，以使得支架上的超声探头绕X轴旋转；第六步进电机与所述Y轴方向的运动轴连接，用于控制Y轴方向运动轴自转，以使得支架上的超声探头绕Y轴旋转。The rotary motion control mechanism includes a fourth stepping motor, a fifth stepping motor, a sixth stepping motor, a motor driver and a motor control module, and the fourth stepping motor, the fifth stepping motor and the sixth stepping motor respectively pass through The motor driver and the motor control module are connected with the computer, and the fourth stepping motor is connected with the motion shaft in the Z-axis direction for controlling the rotation of the motion shaft in the Z-axis direction, so that the ultrasonic probe on the bracket rotates around the Z-axis; the fifth The stepper motor is connected with the movement shaft in the X-axis direction, and is used to control the rotation of the movement shaft in the X-axis direction, so that the ultrasonic probe on the bracket rotates around the X-axis; the sixth stepper motor is connected with the movement shaft in the Y-axis direction The connection is used to control the rotation of the movement axis in the Y-axis direction, so that the ultrasonic probe on the bracket can rotate around the Y-axis.
如图2所示，深度感应器安装于扫描组织的上方，其探测范围为10cm～400cm。通过深度感应器可以获得被检测人体表面各点到摄像装置上摄像头的距离，该距离的精度为厘米级、毫米级或更高。As shown in Figure 2, the depth sensor is installed above the scanned tissue, and its detection range is 10 cm to 400 cm. The distance from each point on the surface of the detected human body to the camera on the camera device can be obtained through the depth sensor, and the accuracy of the distance is centimeter level, millimeter level or higher.
如图3所示，本实施例还公开了一种基于上述超声弹性成像的扫描装置的扫描方法，包括以下步骤：As shown in Figure 3, this embodiment also discloses a scanning method based on the above-mentioned ultrasonic elastography scanning device, including the following steps:
（1）利用深度感应器获取扫描组织的多帧表面深度图像信息，根据多帧表面深度图像信息，重建出如图4a所示的扫描组织表面的三维轮廓图；其中ha、hb和hc分别是指扫描组织距离深度感应器的距离；(1) Use the depth sensor to obtain the multi-frame surface depth image information of the scanned tissue, and reconstruct the three-dimensional contour map of the scanned tissue surface as shown in Figure 4a according to the multi-frame surface depth image information; where ha, hb and hc are respectively Refers to the distance between the scanned tissue and the depth sensor;
（2）根据扫描组织表面的三维轮廓图制定扫描轨迹，其中本实施例中制定的扫描轨迹如图4b所示包括被扫描组织的整个区域，根据扫描组织表面的曲率大小，计算出该扫描轨迹中如图4b所示各扫描点的法向量，并保存在计算机中；(2) The scanning trajectory is formulated according to the three-dimensional contour map of the scanned tissue surface, wherein the scanning trajectory formulated in this embodiment includes the entire area of the scanned tissue as shown in Figure 4b, and the scanning trajectory is calculated according to the curvature of the scanned tissue surface The normal vectors of each scanning point shown in Figure 4b are stored in the computer;
同时本实施例中还制定了超声探头的扫描速度、扫描范围、三维运动控制机构和旋转运动控制机构的步进距离等扫描参数以及超声探头的旋转参数等，其中旋转参数包括超声探头绕X、Y、Z轴旋转的角度；At the same time, scanning parameters such as the scanning speed of the ultrasonic probe, the scanning range, the stepping distance of the three-dimensional motion control mechanism and the rotary motion control mechanism, and the rotation parameters of the ultrasonic probe are also formulated in this embodiment, wherein the rotation parameters include the rotation of the ultrasonic probe around X, The angle of rotation of the Y and Z axes;
（3）控制超声探头移动到扫描轨迹的起始点；(3) Control the ultrasonic probe to move to the starting point of the scanning track;
（4）通过计算机查询到超声探头所在当前扫描点的位置信息及法向量信息；三维运动控制机构根据当前扫描点的位置信息控制支架上的超声探头在三维方向上移动，并通过旋转运动控制机构控制超声探头按照步骤（2）中设定的旋转参数绕X、Y、Z轴方向上分别旋转相应角度，直到超声探头紧贴被扫描组织的表面并与当前扫描点的方向量平行；(4) The position information and normal vector information of the current scanning point where the ultrasonic probe is located are queried through the computer; the three-dimensional motion control mechanism controls the ultrasonic probe on the bracket to move in the three-dimensional direction according to the position information of the current scanning point, and through the rotation motion control mechanism Control the ultrasonic probe to rotate corresponding angles around the X, Y, and Z axes according to the rotation parameters set in step (2), until the ultrasonic probe is close to the surface of the scanned tissue and parallel to the direction of the current scanning point;
（5）超声探头在扫描组织上按照步骤（2）制定的扫描速度和扫描范围对当前所处的点进行扫描，并且采集超声探头当前所处扫描点的超声RF回波信号，然后通过三维运动控制机构控制超声探头沿着该扫描点法向量指向组织表面的方向运动d距离，再次采集超声RF回波信号，将该扫描点的位置信息以及两次采集到的超声RF信号进行储存到计算机中；三维运动控制机构控制超声探头沿该扫描点法向量背向组织表面的方向运动d距离，超声探头恢复到当前所处扫描点上的原位置上；同时判断该扫描点是否为扫描轨迹中的最后一个扫描点；(5) The ultrasonic probe scans the current point on the scanning tissue according to the scanning speed and scanning range specified in step (2), and collects the ultrasonic RF echo signal of the current scanning point of the ultrasonic probe, and then through three-dimensional motion The control mechanism controls the ultrasonic probe to move along the normal vector of the scanning point to the direction of the tissue surface for a distance of d, collects the ultrasonic RF echo signal again, and stores the position information of the scanning point and the ultrasonic RF signals collected twice into the computer The three-dimensional motion control mechanism controls the ultrasonic probe to move d distance along the normal vector of the scanning point to the direction of the tissue surface, and the ultrasonic probe returns to the original position on the current scanning point; at the same time, it is judged whether the scanning point is in the scanning track last scan point;
若是，则三维超声弹性成像的扫描结束；If so, the scanning of the three-dimensional ultrasound elastography ends;
若否，则执行步骤（6）；If not, go to step (6);
（6）计算出扫描轨迹中下一个扫描点和当前扫描点在三维的X、Y和Z轴三个方向上的距离以及在X、Y和Z轴三个方向上的角度偏差，通过三维运动控制机构控制超声探头在X、Y和Z轴对应方向上同时移动相应距离，同时要通过旋转运动控制机构控制超声探头绕三维的X、Y和Z轴三个方向分别进行相应的角度旋转，到达下一个要扫描的点，使得超声探头紧贴被扫描组织的表面并与超声探头所在扫描点的法向量平行；然后回到步骤（5），得到扫描轨迹中所有扫描点的两个超声RF信号以及位置信息。(6) Calculate the distance between the next scanning point and the current scanning point in the three-dimensional directions of X, Y and Z axes and the angular deviation in the three directions of X, Y and Z axes in the scanning trajectory, through three-dimensional movement The control mechanism controls the ultrasonic probe to move corresponding distances in the corresponding directions of the X, Y and Z axes at the same time, and at the same time controls the ultrasonic probe to rotate at corresponding angles around the three-dimensional X, Y and Z axes through the rotary motion control mechanism to reach The next point to be scanned, so that the ultrasonic probe is close to the surface of the scanned tissue and parallel to the normal vector of the scanning point where the ultrasonic probe is located; then return to step (5) to obtain the two ultrasonic RF signals of all scanning points in the scanning trajectory and location information.
在本实施例步骤（5）中超声探头沿着该扫描点法向量指向组织表面的方向运动的距离d为2mm，当然d的距离也可以为其他值，如1～3mm中的其他数字，d的值具体根据实际使用时超声探头类型以及组织的软硬度和厚度进行选择。In the step (5) of this embodiment, the distance d that the ultrasonic probe moves along the direction that the normal vector of the scanning point points to the tissue surface is 2 mm. Of course, the distance d can also be other values, such as other numbers in 1-3 mm, d The value of is selected according to the type of ultrasonic probe and the hardness and thickness of the tissue in actual use.
通过本实施例的上述扫描方法分别得到扫描组织中各扫描点的位置以及各扫描点在不同压力下的两次超声RF回波信号，然后利用两次回波信号进行相关运算，获取相应的组织弹性应变量，从而得到最终弹性成像。Through the above scanning method of this embodiment, the position of each scanning point in the scanned tissue and the two ultrasonic RF echo signals of each scanning point under different pressures are respectively obtained, and then the correlation calculation is performed using the two echo signals to obtain the corresponding tissue elasticity The amount of strain to obtain the final elastography.
上述实施例为本发明较佳的实施方式，但本发明的实施方式并不受上述实施例的限制，其他的任何未背离本发明的精神实质与原理下所作的改变、修饰、替代、组合、简化，均应为等效的置换方式，都包含在本发明的保护范围之内。The above-mentioned embodiment is a preferred embodiment of the present invention, but the embodiment of the present invention is not limited by the above-mentioned embodiment, and any other changes, modifications, substitutions, combinations, Simplifications should be equivalent replacement methods, and all are included in the protection scope of the present invention.
| Application Number | Priority Date | Filing Date | Title |
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| CN201410014844.1ACN103750864B (en) | 2014-01-13 | 2014-01-13 | A kind of scanning means of ultrasonic elastograph imaging and scan method thereof |
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| CN201410014844.1ACN103750864B (en) | 2014-01-13 | 2014-01-13 | A kind of scanning means of ultrasonic elastograph imaging and scan method thereof |
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