技术领域technical field
本发明涉及医疗器械领域，具体涉及超声扫描系统技术领域。The invention relates to the field of medical instruments, in particular to the technical field of ultrasonic scanning systems.
背景技术Background technique
随着医疗及相关技术的进步，超声扫描系统被越来越广泛地应用于医疗领域，尤其是乳腺健康等领域。目前，在使用自动乳腺超声扫描系统对乳房进行扫描时，一次自动扫描的三维图像可以覆盖乳房的部分区域。在诊断或者筛查中，为了覆盖全部乳房，通常操作人员需要将全容积机械手探头放置在乳房的三个位置，以获得三个三维图像来覆盖整个乳房区域。这三个位置通常简称为“AP”、“MED”和“LAT”(参见图1)。With the advancement of medical and related technologies, ultrasonic scanning systems are more and more widely used in the medical field, especially in breast health and other fields. At present, when an automatic breast ultrasound scanning system is used to scan a breast, a three-dimensional image of one automatic scan can cover a part of the breast. In diagnosis or screening, in order to cover the entire breast, the operator usually needs to place the full-volume manipulator probe at three locations on the breast to obtain three 3D images to cover the entire breast area. These three positions are often referred to simply as "AP," "MED," and "LAT" (see Figure 1).
使用自动乳腺超声扫描系统对乳房进行扫描而获得的三维图像也会被标注为相应的位置以方便医生读片。而这个标注行为通常是操作人员手动在扫描工作站中输入。在获得图像中，由于需要确定图像像素相对乳头的位置，因此，在扫描结束后，工作人员需要手动在图像上标注乳头位置信息。目前，无论是学术界还是工业界，均没有自动标记全融超声扫描位置和乳头位置的系统。The three-dimensional image obtained by scanning the breast with the automatic breast ultrasound scanning system will also be marked with the corresponding position to facilitate the doctor to read the film. And this labeling behavior is usually manually entered by the operator in the scanning workstation. In obtaining the image, since it is necessary to determine the position of the image pixel relative to the nipple, after the scanning is completed, the staff needs to manually mark the nipple position information on the image. At present, neither academia nor industry has a system for automatically marking the location of the full fusion ultrasound scan and the location of the nipple.
另一方面，在追踪标记物模块上，传统的基于电磁的追踪技术，成本高，准确率低。而现有的基于视频追踪的技术由于无法适应在不同光线，目标物复杂，往往追踪或者检测效果不好。On the other hand, for the tracking marker module, the traditional electromagnetic-based tracking technology has high cost and low accuracy. However, the existing video-based tracking technology often has poor tracking or detection effects because it cannot adapt to different light sources and the target object is complex.
因此，总的来说，目前的乳腺超声扫描系统中，尚无法在移动探头对乳腺进行超声扫描时，准确高效地自动确定乳头在通过移动的探头扫描获得的扫描图像中的位移，即乳头图像位移。Therefore, in general, in the current breast ultrasound scanning system, it is still impossible to accurately and efficiently determine the displacement of the nipple in the scanning image obtained by scanning the moving probe, that is, the nipple image. displacement.
综上所述，本领域迫切需要一种新的计算机乳腺扫描自动机械定位系统，能够准确高效地自动确定超声扫描探头在移动过程中获得的扫描图像中的乳头图像位移信息以及图像位置信息。To sum up, there is an urgent need in this field for a new automatic mechanical positioning system for computer breast scanning, which can accurately and efficiently determine the displacement information of the nipple image and the image position information in the scanning image obtained during the movement of the ultrasonic scanning probe.
发明内容Contents of the invention
本发明的目的就是提供一种计算机乳腺扫描自动机械定位系统，能够准确高效地自动确定超声扫描探头在移动过程中获得的扫描图像中的乳头图像位移信息以及图像位置信息。The purpose of the present invention is to provide an automatic mechanical positioning system for computerized mammary gland scanning, which can accurately and efficiently determine the nipple image displacement information and image position information in the scanning image obtained during the movement of the ultrasonic scanning probe.
本发明提供的一种计算机乳腺扫描自动机械定位系统，，包含：机械手探头、处理器，以及机械臂组件，该机械臂组件包含依次可水平旋转连接或竖直旋转连接的多个机械臂、多个自转角度编码器，其中，The present invention provides an automatic mechanical positioning system for computer breast scanning, comprising: a manipulator probe, a processor, and a manipulator assembly, the manipulator assembly includes a plurality of manipulators, multiple manipulators, rotation angle encoders, where,
每两个相邻的机械臂之间设置有一个自转角度编码器，用于测量该两个机械臂之间空间上的相对旋转角度，并发送给该处理器；A rotation angle encoder is arranged between every two adjacent mechanical arms, which is used to measure the relative rotation angle in space between the two mechanical arms, and send it to the processor;
该机械手探头与该机械臂组件的一端连接，用于以不同的空间位置对乳房进行扫描，并将扫描到的图像传输给该处理器；The manipulator probe is connected to one end of the manipulator assembly, and is used to scan the breast at different spatial positions, and transmit the scanned images to the processor;
该处理器用于记录乳头图像初始位置，并根据该机械手探头的每一个不同空间位置时，所对应的各个机械臂的空间相对旋转角度以及各个机械臂的水平长度，确定该不同空间位置扫描得到的图像位置以及乳头在图像中的位移。The processor is used to record the initial position of the nipple image, and according to each different spatial position of the manipulator probe, the corresponding spatial relative rotation angle of each mechanical arm and the horizontal length of each mechanical arm, determine the scanned image obtained by the different spatial positions Image position and displacement of the nipple in the image.
优选地，该机械手探头与该机械臂组件的连接处设置有一个自转角度编码器，用于计算扫描机械手探头相对于其连接的机械臂的端部的相对旋转角度，并将所得信息输给该处理器，并且，Preferably, the connection between the manipulator probe and the manipulator assembly is provided with a rotation angle encoder, which is used to calculate the relative rotation angle of the scanning manipulator probe relative to the end of the manipulator arm to which it is connected, and output the obtained information to the processor, and,
该处理器根据该机械手探头的每一个不同空间位置时，所对应的各个机械臂的空间相对旋转角度，以及机械手探头相对于其连接的机械臂的端部的相对旋转角度，确定该不同空间位置扫描得到的图像位置以及乳头在图像中的位移。The processor determines the different spatial positions according to the relative spatial rotation angles of the corresponding mechanical arms at each different spatial position of the manipulator probe, and the relative rotational angle of the manipulator probe relative to the end of the mechanical arm to which it is connected. The scanned image position and the displacement of the nipple in the image.
优选地，该机械臂组件包含：第一和第二机械臂、第一、第二和第三自转角度编码器，其中，Preferably, the mechanical arm assembly includes: first and second mechanical arms, first, second and third rotation angle encoders, wherein,
该第一机械臂的一端与一固定件可旋转地连接，并在连接处设置有第一自转角度编码器，该第一机械臂的另一端与第二机械臂的一端可旋转地连接，并在连接处设置有第二自转角度编码器；One end of the first mechanical arm is rotatably connected to a fixed part, and a first rotation angle encoder is arranged at the connection, the other end of the first mechanical arm is rotatably connected to one end of the second mechanical arm, and A second rotation angle encoder is arranged at the connection;
第二机械臂的另一端与该机械手探头可旋转地连接，并在连接处设置有第三自转角度编码器。The other end of the second mechanical arm is rotatably connected to the manipulator probe, and a third rotation angle encoder is arranged at the connection.
优选地，该固定件固定设置在该系统的底部平面。Preferably, the fixing member is fixedly arranged on the bottom plane of the system.
优选地，该处理器根据机械手探头在空间上相对于初始位置的坐标，确定该机械手探头在不同空间位置扫描得到的图像的乳头图像位移。Preferably, the processor determines the nipple image displacement of images scanned by the manipulator probe at different spatial positions according to the spatial coordinates of the manipulator probe relative to the initial position.
优选地，该处理器根据各个机械臂的空间相对旋转角度以及各个机械臂的水平长度，获得机械手探头物理位移，并根据以下公式确定该不同空间位置扫描得到的图像的乳头图像位移：Preferably, the processor obtains the physical displacement of the manipulator probe according to the spatial relative rotation angle of each mechanical arm and the horizontal length of each mechanical arm, and determines the nipple image displacement of the images scanned at different spatial positions according to the following formula:
乳头图像位移＝－1×(机械手探头物理位移/图像像素物理大小)Nipple image displacement = -1× (physical displacement of manipulator probe/physical size of image pixels)
优选地，该乳头图像位移是指在该扫描到的图像中相对于该乳头图像初始位置的位移。Preferably, the nipple image displacement refers to the displacement in the scanned image relative to the original position of the nipple image.
优选地，该处理器还用于根据该乳头图像初始位置以及不同位置扫描得到的图像的乳头图像位移，对不同位置扫描得到的图像进行拼接，得到整体扫描部位的物理全貌。Preferably, the processor is also used to stitch the images scanned at different positions according to the initial position of the nipple image and the displacement of the nipple images scanned at different positions, so as to obtain a physical picture of the whole scanned part.
优选地，该处理器根据扫描人员手动点击的乳头位置，自动校准空间坐标，用于下一次的扫描位置判断和乳头位置判断。Preferably, the processor automatically calibrates the spatial coordinates according to the position of the nipple manually clicked by the scanner, so as to judge the position of the next scan and the position of the nipple.
本发明实施方式与现有技术相比，至少具有以下区别和效果：Compared with the prior art, the embodiments of the present invention have at least the following differences and effects:
每两个相邻的机械臂之间设置有一个自转角度编码器，用于测量所述两个机械臂之间空间上的相对旋转角度，并发送给所述处理器，同时，机械手探头与多个机械臂的端部之一连接，用于以不同的空间位置对乳房进行扫描，并将扫描到的图像传输给所述处理器，从而通过处理器，根据机械手探头的每一个不同空间位置时，所对应的各个机械臂的空间相对旋转角度以及各个机械臂的水平长度，确定不同空间位置扫描得到的图像位置以及乳头在图像中的位移。由此，能够自动确定超声扫描探头在移动过程中获得的扫描图像中的乳头图像位移信息。A rotation angle encoder is arranged between every two adjacent mechanical arms, which is used to measure the relative rotation angle in space between the two mechanical arms and send it to the processor. At the same time, the mechanical arm probe and the multiple One of the ends of a robotic arm is connected to scan the breast at different spatial positions, and the scanned image is transmitted to the processor, so that the processor, according to each different spatial position of the robotic arm probe, , corresponding to the spatial relative rotation angle of each mechanical arm and the horizontal length of each mechanical arm, determine the image position scanned at different spatial positions and the displacement of the nipple in the image. Thus, it is possible to automatically determine the nipple image displacement information in the scanning image obtained by the ultrasonic scanning probe during movement.
进一步地，所述机械手探头与所述机械臂组件的连接处设置有一个自转角度编码器，用于计算扫描机械手探头相对于其连接的机械臂的端部的相对旋转角度，并将所得信息输给所述处理器，并且，处理器根据机械手探头的每一个不同空间位置时，所对应的各个机械臂的空间相对旋转角度，以及机械手探头相对于其连接的机械臂的端部的相对旋转角度，确定不同空间位置扫描得到的图像位置以及乳头在图像中的位移。由此，进一步提高了乳头图像位移的信息的准确性。Further, a rotation angle encoder is provided at the connection between the manipulator probe and the manipulator assembly, which is used to calculate the relative rotation angle of the scanning manipulator probe relative to the end of the manipulator to which it is connected, and output the obtained information to to the processor, and the processor, according to each different spatial position of the manipulator probe, the corresponding spatial relative rotation angle of each mechanical arm, and the relative rotation angle of the manipulator probe relative to the end of the mechanical arm to which it is connected , to determine the image position scanned at different spatial positions and the displacement of the nipple in the image. As a result, the accuracy of the information on the displacement of the nipple image is further improved.
进一步地，计算机乳腺扫描自动机械定位系统包含第一和第二机械臂以及第一、第二和第三自转角度编码器，角度编码器将相对旋转角度发送给处理器，并且，所述处理器据此计算获得机械手探头在空间上相对于初始位置的坐标(X，Y)，从而自动确定所述机械手探头在不同空间位置扫描得到的图像的乳头图像位移。由此，方便地实现机械手探头的旋转和位移的同时，通过获取各个连接点的相对旋转角度，为自动获取乳头的图像位移的信息提供准确的参考数据，从而自动确定乳头的图像位移信息。Further, the automatic mechanical positioning system for computer breast scanning comprises first and second mechanical arms and first, second and third rotation angle encoders, the angle encoders send the relative rotation angle to the processor, and the processor Based on this, the spatial coordinates (X, Y) of the manipulator probe relative to the initial position are obtained through calculation, so as to automatically determine the nipple image displacement of images scanned by the manipulator probe at different spatial positions. Thus, while conveniently realizing the rotation and displacement of the manipulator probe, by obtaining the relative rotation angles of each connection point, accurate reference data can be provided for automatically obtaining the image displacement information of the nipple, thereby automatically determining the image displacement information of the nipple.
进一步的，所述处理器还用于对不同位置扫描得到的图像进行拼接，得到整体扫描部位的物理全貌，由此更加方便地获取更为完善的超声扫描图像。Further, the processor is also used to splice images scanned at different positions to obtain a physical picture of the entire scanned part, thereby obtaining a more complete ultrasonic scanning image more conveniently.
应理解，在本发明范围内中，本发明的上述各技术特征和在下文(如实施例)中具体描述的各技术特征之间都可以互相组合，从而构成新的或优选的技术方案。限于篇幅，在此不再一一累述。It should be understood that within the scope of the present invention, the above-mentioned technical features of the present invention and the technical features specifically described in the following (such as embodiments) can be combined with each other to form new or preferred technical solutions. Due to space limitations, we will not repeat them here.
附图说明Description of drawings
图1示出了将全融机机械手探头放置在乳房的三个位置的示意图；Fig. 1 shows the schematic diagram of placing the full fusion machine manipulator probe in three positions of the breast;
图2示出了根据本发明的一个实施例的计算机乳腺扫描自动机械定位系统的结构示意图。Fig. 2 shows a schematic structural diagram of an automatic mechanical positioning system for computer breast scanning according to an embodiment of the present invention.
在各附图中，In the drawings,
11：第一机械臂；11: The first mechanical arm;
12：第二机械臂；12: Second mechanical arm;
13：机械手探头；13: Manipulator probe;
14：固定件；14: Fixing piece;
21：第一自转角度编码器；21: the first rotation angle encoder;
22：第二自转角度编码器；22: second rotation angle encoder;
23：第三自转角度编码器。23: The third rotation angle encoder.
具体实施方式Detailed ways
本发明人经过广泛而深入的研究，发现可以通过带有自转角度编码器的多个机械臂，通过采集可旋转机械臂与机械手探头的旋转信息，并发送给处理器，由处理器计算获得机械手探头在空间上的物理位移，并根据人体乳头在空间上的初始位置和在图像中的初始位置，进一步进行计算，从而可以自动准确地获得乳头的图像位移。After extensive and in-depth research, the inventor found that the rotation information of the rotatable mechanical arm and the manipulator probe can be collected through multiple manipulators with rotation angle encoders, and sent to the processor, and the manipulator is calculated by the processor. The physical displacement of the probe in space is further calculated according to the initial position of the human nipple in space and the initial position in the image, so that the image displacement of the nipple can be automatically and accurately obtained.
在以下的叙述中，为了使读者更好地理解本申请而提出了许多技术细节。但是，本领域的普通技术人员可以理解，即使没有这些技术细节和基于以下各实施方式的种种变化和修改，也可以实现本申请各权利要求所要求保护的技术方案。In the following description, many technical details are proposed in order to enable readers to better understand the application. However, those skilled in the art can understand that without these technical details and various changes and modifications based on the following implementation modes, the technical solution claimed in each claim of the present application can be realized.
为使本发明的目的、技术方案和优点更加清楚，下面将结合附图对本发明的实施方式作进一步地详细描述。In order to make the purpose, technical solution and advantages of the present invention clearer, the following will further describe the implementation of the present invention in detail in conjunction with the accompanying drawings.
术语the term
如本文所用，术语“处理器”通过无线通信模块或有线连接进行信息的收发，用于计算乳头图像位移的信息。处理器可以使用微控制单元(Micro Controller Unit，简称“MCU”)，数字信号处理器(Digital Signal Processor，简称“DSP”)，单片机等实现，也可以使用逻辑电路来实现。As used herein, the term "processor" transmits and receives information through a wireless communication module or a wired connection, and is used to calculate the information of the nipple image displacement. The processor can be realized by using a Micro Controller Unit (Micro Controller Unit, "MCU" for short), a digital signal processor (Digital Signal Processor, "DSP" for short), a single-chip microcomputer, etc., or a logic circuit.
如本文所用，术语“自转角度编码器”、“编码器”是同一含义，编码器把角位转动位移转换成电信号，再把这个电信号转变成计数脉冲，用脉冲的个数表示角度的大小。As used in this article, the terms "rotation angle encoder" and "encoder" have the same meaning. The encoder converts the angular displacement into an electrical signal, and then converts the electrical signal into a counting pulse, and the number of pulses represents the angle. size.
如本文所用，术语“乳头图像位移”是指乳头在超声扫描图像中的相对位移。As used herein, the term "nipple image displacement" refers to the relative displacement of the nipple in the ultrasound scan image.
本发明的主要优点包括：The main advantages of the present invention include:
1)能够自动获得乳头图像位移的信息以及图像位置信息。1) The information on the displacement of the nipple image and the image position information can be obtained automatically.
2)既方便又准确。2) It is convenient and accurate.
3)能够进一步通过图像拼接，得到整体扫描部位的物理全貌。3) It is possible to further obtain a physical picture of the whole scanned part through image splicing.
4)结构简单、制造成本低。4) The structure is simple and the manufacturing cost is low.
5)通过本发明的的乳头定位，最后偏差为毫米级，显著减小了偏差。5) Through the nipple positioning of the present invention, the final deviation is at the millimeter level, which significantly reduces the deviation.
6)计算速度快，可以做到乳头，机械手位置的实时定位，显著提高了效率。6) The calculation speed is fast, and the real-time positioning of the nipple and the position of the manipulator can be achieved, which significantly improves the efficiency.
综上所述，本发明提供的计算机乳腺扫描自动机械定位系统极大地提高了系统性能，降低了成本，在医疗器械，尤其是乳腺超声扫描领域有十分广阔的应用前景。To sum up, the automatic mechanical positioning system for computer breast scanning provided by the present invention greatly improves the system performance and reduces the cost, and has a very broad application prospect in the field of medical equipment, especially in the field of breast ultrasound scanning.
第一实施例：计算机乳腺扫描自动机械定位系统First Embodiment: Automatic Mechanical Positioning System for Computer Breast Scanning
参见图2，本实施例的计算机乳腺扫描自动机械定位系统，包含：机械手探头13、处理器(图中未示)，以及机械臂组件，机械臂组件包含依次可水平旋转连接或竖直旋转连接的多个机械臂、多个自转角度编码器，其中，每两个相邻的机械臂之间设置有一个自转角度编码器，用于测量两个机械臂之间空间上的相对旋转角度，并发送给处理器；机械手探头13与机械臂组件的一端连接，用于以不同的空间位置对乳房进行扫描，并将扫描到的图像传输给处理器；处理器用于记录乳头图像初始位置，并根据机械手探头13的每一个不同空间位置时，所对应的各个机械臂的空间相对旋转角度以及各个机械臂的水平长度，确定不同空间位置扫描得到的图像位置以及乳头在图像中的位移。Referring to Fig. 2, the automatic mechanical positioning system for computerized mammary gland scanning of the present embodiment includes: a manipulator probe 13, a processor (not shown in the figure), and a mechanical arm assembly, and the mechanical arm assembly includes a horizontally rotatable connection or a vertically rotatably connected A plurality of mechanical arms, a plurality of rotation angle encoders, wherein, a rotation angle encoder is arranged between every two adjacent mechanical arms, which is used to measure the relative rotation angle in space between the two mechanical arms, and Send to the processor; the manipulator probe 13 is connected with one end of the manipulator assembly, and is used to scan the breast in different spatial positions, and transmits the scanned image to the processor; the processor is used to record the initial position of the nipple image, and according to For each different spatial position of the manipulator probe 13 , the corresponding spatial relative rotation angle of each mechanical arm and the horizontal length of each mechanical arm determine the image position scanned at different spatial positions and the displacement of the nipple in the image.
在本实施例中，图像位置是如技术背景里的示意图中的,LAT,AP,MED中的其中一个位置，乳头在图像中的位移，即乳头图像位移，是指乳头在图像上相对于初始位置的位移。In this embodiment, the image position is one of LAT, AP, and MED as shown in the schematic diagram in the technical background. The displacement of the nipple in the image, that is, the nipple image displacement, refers to the nipple on the image relative to the initial The displacement of the position.
需要说明的是，当机械手探头13处于某一个空间位置时，各个机械臂的空间相对旋转角度是指，每两个相邻的机械臂之间设置的自转角度编码器测量得到的空间相对旋转角度。It should be noted that when the manipulator probe 13 is in a certain space position, the relative spatial rotation angle of each mechanical arm refers to the spatial relative rotation angle measured by the rotation angle encoder provided between every two adjacent mechanical arms. .
处理器用于记录手动标定左/右AP位置(参见图1)以及乳头图像初始位置。并且，在机械手探头13发生移动时，接收到来自每一个自转角度编码器测到的相邻两个机械臂之间空间上的相对旋转角度，由此确定机械手探头13在不同空间位置扫描得到的图像位置以及乳头在图像中的位移。The processor is used to record manually calibrated left/right AP positions (see Figure 1) and initial nipple image positions. And, when the manipulator probe 13 moves, it receives the relative rotation angles in space between two adjacent manipulator arms measured from each rotation angle encoder, thereby determining the manipulator probe 13 obtained by scanning at different spatial positions. Image position and displacement of the nipple in the image.
多个机械臂之间可水平旋转连接或竖直旋转连接，是指一根机械臂可相对于另一根机械臂在水平方向或竖直方向旋转，进一步地，该旋转角度可以通过设置在相邻机械臂连接端上的自转角度编码器测量。The horizontal or vertical rotation connection between multiple mechanical arms means that one mechanical arm can rotate in the horizontal direction or vertical direction relative to another mechanical arm. Further, the rotation angle can be set at the corresponding It is measured by the rotation angle encoder on the connection end of the adjacent mechanical arm.
进一步地，在本发明的其他实施例中，机械手探头13与机械臂组件的连接处设置有一个自转角度编码器，用于计算扫描机械手探头13相对于其连接的机械臂的端部的相对旋转角度，并将所得信息输给处理器。Further, in other embodiments of the present invention, a rotation angle encoder is provided at the connection between the manipulator probe 13 and the manipulator assembly, which is used to calculate the relative rotation of the scanning manipulator probe 13 relative to the end of the manipulator arm to which it is connected. angle and output the resulting information to the processor.
在这种情况下，处理器根据机械手探头13的每一个不同空间位置时，所对应的各个机械臂的空间相对旋转角度，以及机械手探头13相对于其连接的机械臂的端部的相对旋转角度，确定不同空间位置扫描得到的图像位置以及乳头在图像中的位移。In this case, the processor, according to each different spatial position of the manipulator probe 13, corresponds to the spatial relative rotation angle of each manipulator arm, and the relative rotational angle of the manipulator probe 13 relative to the end of the manipulator arm to which it is connected. , to determine the image position scanned at different spatial positions and the displacement of the nipple in the image.
更具体的说，计算机乳腺扫描自动机械定位系统的机械臂组件包含第一和第二机械臂11、12；第一、第二和第三自转角度编码器21、22和23，其中，第一机械臂11的一端与一固定架14可旋转地连接，并在连接处设置有第一自转角度编码器21，第一机械臂11的另一端与第二机械臂12的一端可旋转地连接，并在连接处设置有第二自转角度编码器22；第二机械臂12的另一端与机械手探头13可旋转地连接，并在连接处设置有第三自转角度编码器23。另外，在本实施例中，固定架14固定设置在系统的底部平面。More specifically, the mechanical arm assembly of the automatic mechanical positioning system for computer breast scanning includes first and second mechanical arms 11, 12; first, second and third rotation angle encoders 21, 22 and 23, wherein the first One end of the mechanical arm 11 is rotatably connected to a fixed mount 14, and a first rotation angle encoder 21 is arranged at the joint, and the other end of the first mechanical arm 11 is rotatably connected to an end of the second mechanical arm 12, And a second rotation angle encoder 22 is arranged at the connection; the other end of the second mechanical arm 12 is rotatably connected with the manipulator probe 13, and a third rotation angle encoder 23 is arranged at the connection. In addition, in this embodiment, the fixing frame 14 is fixedly arranged on the bottom plane of the system.
其中，第一机械臂11与固定架14之间可水平方向旋转和上下移动，第一机械臂11与第二机械臂12之间可水平方向旋转，第二机械臂12与机械手探头13之间可水平方向旋转。但本发明不限于此，在其他实施例中，也可以根据不同的需要而改变旋转方式。Wherein, the first mechanical arm 11 and the fixed frame 14 can rotate horizontally and move up and down; the first mechanical arm 11 and the second mechanical arm 12 can rotate horizontally; Can be rotated horizontally. But the present invention is not limited thereto, and in other embodiments, the rotation mode can also be changed according to different needs.
更具体的说，第一自转角度编码器21测量到第一机械臂11的一端与一固定架14之间的第一相对旋转角度，第二自转角度编码器22测量到第一机械臂11的另一端与第二机械臂12的一端之间的第二相对旋转角度，第三自转角度编码器23测量到第二机械臂12的另一端与机械手探头13之间的第三相对旋转角度。并且，第一、第二、第三自转角度编码器21,22和23分别将第一、第二、第三相对旋转角度发送给处理器。More specifically, the first rotation angle encoder 21 measures the first relative rotation angle between one end of the first mechanical arm 11 and a fixed frame 14, and the second rotation angle encoder 22 measures the rotation angle of the first mechanical arm 11. The second relative rotation angle between the other end and one end of the second mechanical arm 12 , the third rotation angle encoder 23 measures the third relative rotation angle between the other end of the second mechanical arm 12 and the manipulator probe 13 . Moreover, the first, second and third rotation angle encoders 21, 22 and 23 respectively send the first, second and third relative rotation angles to the processor.
在本实施例中，处理器根据机械手探头13在空间上相对于初始位置的坐标(X，Y)，确定机械手探头13在不同空间位置扫描得到的图像的乳头图像位移和图像位置。In this embodiment, the processor determines the nipple image displacement and image position of the images scanned by the manipulator probe 13 at different spatial positions according to the spatial coordinates (X, Y) of the manipulator probe 13 relative to the initial position.
需要说明的是，机械手探头13在空间上相对于初始位置的坐标(X，Y)，就是指机械手探头13在空间上相对于初始位置的空间位移。It should be noted that the spatial coordinates (X, Y) of the manipulator probe 13 relative to the initial position refer to the spatial displacement of the manipulator probe 13 relative to the initial position.
更具体地说，处理器根据以下公式计算机械手探头13在空间上相对于初始位置的坐标(X，Y)：More specifically, the processor calculates the coordinates (X, Y) of the manipulator probe 13 in space relative to the initial position according to the following formula:
第一步：校准自转角度编码器，确定编码器顺时针或者逆时针旋转，自转角度编码器是递增还是递减，若机械安装时，第一和第二自转角度编码器21和22的零点值与床水平，则执行第二步。The first step: calibrate the rotation angle encoder, determine whether the encoder rotates clockwise or counterclockwise, whether the rotation angle encoder is increasing or decreasing, if mechanically installed, the zero point values of the first and second rotation angle encoders 21 and 22 are the same as If the bed is level, go to step 2.
第二步：扫描左/右AP位置，手动或者通过图像处理方法获取AP方位的乳头位置，此时：Step 2: scan the left/right AP position, and obtain the nipple position in the AP direction manually or through image processing methods. At this time:
(1)第一机械臂11相对于初始位置的坐标(X1，Y1)：(1) The coordinates (X1, Y1) of the first mechanical arm 11 relative to the initial position:
需要说明的是，如上所述，第一机械臂11的一端与固定架14连接，另一端与第二机械臂12连接，(X1，Y1)是第一机械臂11与第二机械臂12连接的一端相对于初始位置的坐标。It should be noted that, as mentioned above, one end of the first mechanical arm 11 is connected to the fixed frame 14, and the other end is connected to the second mechanical arm 12, (X1, Y1) is the connection between the first mechanical arm 11 and the second mechanical arm 12 The coordinates of one end of , relative to the initial position.
X1＝A*cos(a)X1=A*cos(a)
Y1＝A*sin(a)Y1＝A*sin(a)
其中：in:
A：第一机械臂11的水平长度，也就是第一机械臂11在平面投影上的长度。A: The horizontal length of the first mechanical arm 11 , that is, the length of the first mechanical arm 11 on a plane projection.
a：为第一旋转角度，即，第一机械臂11相对于初始位置时的旋转角度。a: is the first rotation angle, that is, the rotation angle of the first mechanical arm 11 relative to the initial position.
(2)机械手探头13在空间上相对于初始位置的坐标(X，Y)：(2) Coordinates (X, Y) of the manipulator probe 13 relative to the initial position in space:
X＝X1+B*cos(b)X=X1+B*cos(b)
Y＝Y1+B*sin(b)Y=Y1+B*sin(b)
其中，in,
(X1，Y1)：第一机械臂11在物理空间上相对于初始位置的初始坐标；(X1, Y1): the initial coordinates of the first mechanical arm 11 relative to the initial position in physical space;
B：第二机械臂12的水平长度，也就是第二机械臂12在平面投影上的长度；B: the horizontal length of the second mechanical arm 12, that is, the length of the second mechanical arm 12 on the plane projection;
b：第二旋转角度：第二机械臂12相对于初始位置时的旋转角度。b: second rotation angle: the rotation angle of the second mechanical arm 12 relative to the initial position.
(3)记录此次扫描时第三自转角度编码器23的相对旋转角度(3) Record the relative rotation angle of the third rotation angle encoder 23 when scanning this time
第三步：扫描其它方位图像时，根据第二步的算法可以获取此时扫描方位所对应的数值，即，x坐标值与y坐标值，与此对应的AP扫描方位的数值进行比较，可以完全自动的获取此次扫描图像的方位以及乳头在空间上的位置。Step 3: When scanning images in other orientations, according to the algorithm in the second step, the value corresponding to the scanning orientation at this time can be obtained, that is, the x coordinate value and the y coordinate value are compared with the corresponding AP scanning orientation values, which can be The orientation of the scanned image and the position of the nipple in space are fully automatically acquired.
需要指出的是，上述坐标为物理概念上的坐标，而不是图像上的坐标。It should be pointed out that the above-mentioned coordinates are coordinates on a physical concept rather than coordinates on an image.
通过上述方式，根据第一和第二机械臂11和12的水平长度，以及第一、第二和第三自转角度编码器21，22和23测得的第一和第二机械臂12的旋转角度，及机械手探头13自传的角度，得到机械手探头13相对于其初始的物理位置的位移。In the above manner, according to the horizontal lengths of the first and second mechanical arms 11 and 12, and the rotations of the first and second mechanical arms 12 measured by the first, second and third rotation angle encoders 21, 22 and 23 Angle, and the self-propagation angle of the manipulator probe 13, the displacement of the manipulator probe 13 relative to its initial physical position is obtained.
上述计算方式适用与机械安装第一和第二自转角度编码器21和22的零点值与扫描床平行的情况下，若对机械安装不做限制条件下，通过以下方式进行计算。The above calculation method is applicable to the case where the zero point values of the first and second rotation angle encoders 21 and 22 are mechanically installed parallel to the scanning bed. If there are no restrictions on the mechanical installation, the calculation is performed in the following manner.
第一步：校准各个自转角度编码器，确定各个编码器顺时针或者逆时针旋转，自转角度编码器是递增还是递减，及机械臂平行与扫描床时，记录自转角度编码器分别所对于的值。然后执行第二步。Step 1: Calibrate each rotation angle encoder, determine whether each encoder rotates clockwise or counterclockwise, whether the rotation angle encoder is increasing or decreasing, and when the robot arm is parallel to the scanning bed, record the respective values of the rotation angle encoders . Then perform the second step.
第二步：扫描左/右AP位置，手动或者通过图像处理方法获取AP方位的乳头位置，此时：Step 2: scan the left/right AP position, and obtain the nipple position in the AP direction manually or through image processing methods. At this time:
(1)第一机械臂11相对于初始位置的坐标(X1，Y1)：(1) The coordinates (X1, Y1) of the first mechanical arm 11 relative to the initial position:
X1＝A*cos(a)-Bsin(a)X1＝A*cos(a)-Bsin(a)
Y1＝A*sin(a)+Bcos(a)Y1＝A*sin(a)+Bcos(a)
其中，in,
(X1，Y1)：第一机械臂11下物理空间上相对于初始位置坐标的位移；(X1, Y1): the displacement of the first mechanical arm 11 relative to the initial position coordinates in the physical space;
A：第一机械臂11的水平长度A: the horizontal length of the first mechanical arm 11
B：第一机械臂11校准时，第一机械臂11与第二机械臂12的节点处，相对与初始位置坐标y方向上的偏移值，若水平校准，此值为零。B: When the first robot arm 11 is calibrated, the offset value of the node of the first robot arm 11 and the second robot arm 12 in the y direction relative to the initial position coordinates, if it is calibrated horizontally, this value is zero.
a：为第一旋转角度：第一机械臂11相对于初始位置时的旋转角度a: is the first rotation angle: the rotation angle of the first mechanical arm 11 relative to the initial position
(2)机械手探头13在空间上相对空间坐标的坐标(X，Y)：(2) The coordinates (X, Y) of the manipulator probe 13 relative to the spatial coordinates in space:
X2＝D*cos(a)-Esin(a)X2＝D*cos(a)-Esin(a)
Y2＝D*sin(a)+Ecos(a)Y2＝D*sin(a)+Ecos(a)
其中：in:
(X2，Y2)：物理空间上，第二机械臂12相对于初始位置坐标的位移(X2, Y2): In physical space, the displacement of the second mechanical arm 12 relative to the initial position coordinates
D：第二机械臂12的水平长度；D: the horizontal length of the second mechanical arm 12;
E：第二机械臂12校准时，第二机械臂12与机械手探头13，或第三机械臂(图中未示)的节点处，相对与初始位置坐标y方向上的偏移值，若水平校准，此值为零。E: When the second mechanical arm 12 is calibrated, the offset value relative to the initial position coordinate y direction at the node of the second mechanical arm 12 and the manipulator probe 13, or the third mechanical arm (not shown in the figure), if horizontal calibration, this value is zero.
X＝X1+X2*cos(b)-Y2sin(b)X＝X1+X2*cos(b)-Y2sin(b)
Y＝Y1+X2*sin(b)+Y2cos(b)Y=Y1+X2*sin(b)+Y2cos(b)
其中：in:
b：为第二旋转角度：第二机械臂12相对于初始位置时的旋转角度b: the second rotation angle: the rotation angle of the second mechanical arm 12 relative to the initial position
(X，Y)：在第一和第二机械臂11和12作用下，乳头物理空间上相对于初始位置坐标的位移；(X, Y): under the action of the first and second mechanical arms 11 and 12, the displacement of the nipple relative to the initial position coordinates in physical space;
(3)记录此次扫描时第三自转角度编码器23的相对旋转角度(3) Record the relative rotation angle of the third rotation angle encoder 23 when scanning this time
第三步：扫描其它方位图像时，根据第二步的算法可以获取此时扫描方位所对应的数值，即，x坐标值与y坐标值，与此对应的AP扫描方位的数值进行比较，可以完全自动的获取此次扫描图像的方位以及乳头在空间上的位置Step 3: When scanning images in other orientations, according to the algorithm in the second step, the value corresponding to the scanning orientation at this time can be obtained, that is, the x coordinate value and the y coordinate value are compared with the corresponding AP scanning orientation values, which can be Fully automatic acquisition of the orientation of the scanned image and the position of the nipple in space
需要说明的是，上述坐标为物理概念上的坐标，而不是图像上的坐标。It should be noted that the above-mentioned coordinates are coordinates on a physical concept rather than coordinates on an image.
通过上述方式，根据第一和第二机械臂12的长度，以及第一、第二和第三编码器21,22和23，测得的第一和第二机械臂11和12的旋转角度，及机械手探头13自传的角度，得到机械手探头13相对于其初始的物理位置的位移。In the above manner, according to the lengths of the first and second mechanical arms 12, and the first, second and third encoders 21, 22 and 23, the measured rotation angles of the first and second mechanical arms 11 and 12, and the self-propagation angle of the manipulator probe 13 to obtain the displacement of the manipulator probe 13 relative to its initial physical position.
进一步的，处理器进一步根据以下公式，分别确定不同空间位置扫描得到的图像的乳头图像在X轴方向和Y轴方向上的位移：Further, the processor further determines the displacements of the nipple images in the X-axis direction and the Y-axis direction of the images scanned at different spatial positions according to the following formula:
乳头图像位移＝－(机械手探头13物理位移/图像像素物理大小)Nipple image displacement = - (physical displacement of manipulator probe 13/physical size of image pixels)
需要指出的是，物理位移即指空间位移，机械手探头13物理位移，就是机械手探头13在物理空间上相对于乳头物理空间的初始位置的位移。It should be pointed out that the physical displacement refers to the spatial displacement, and the physical displacement of the manipulator probe 13 is the displacement of the manipulator probe 13 in physical space relative to the initial position of the nipple physical space.
乳头图像位移即指乳头在图像上相对于初始位置的位移。换句话说，乳头图像位移是指在扫描到的图像中相对于乳头图像初始位置的位移。Nipple image displacement refers to the displacement of the nipple on the image relative to the initial position. In other words, the nipple image displacement refers to the displacement in the scanned image relative to the original position of the nipple image.
换句话说，处理器根据各个机械臂的空间相对旋转角度以及各个机械臂的水平长度，获得机械手探头13物理位移，并根据上述公式确定不同空间位置扫描得到的图像的乳头图像位移。In other words, the processor obtains the physical displacement of the manipulator probe 13 according to the spatial relative rotation angle of each manipulator and the horizontal length of each manipulator, and determines the nipple image displacement of images scanned at different spatial positions according to the above formula.
另外，乳头图像初始位置是通过在AP位置的乳头在图像上手工标定的，因此，通过上述方案，可以获得乳头图像位移。In addition, the initial position of the nipple image is manually marked on the image by the nipple at the AP position. Therefore, the displacement of the nipple image can be obtained through the above scheme.
进一步的，处理器根据AP位置对乳房扫描得到的图像，手动标定乳头图像初始位置，或通过自动图像识别的方式，识别并标定乳头图像初始位置。Further, the processor manually calibrates the initial position of the nipple image according to the image obtained by scanning the breast at the AP position, or identifies and calibrates the initial position of the nipple image by means of automatic image recognition.
在本发明的其他实施例中，由于乳头总在图像范围内，乳头的位置还可以由如下方法自动定位：In other embodiments of the present invention, since the nipple is always within the image range, the position of the nipple can also be automatically positioned by the following method:
通过图像处理的滤波器，例如，墨西哥帽滤波器(mexican hat)，以及拉普拉斯滤波器(Laplacian)等等，应用在近皮肤表面的冠状面图像上，增强乳头位置图像信号，之后找出信号最强地方即可。Filters through image processing, such as Mexican hat filter (mexican hat), and Laplacian filter (Laplacian), etc., are applied to the coronal image near the skin surface to enhance the image signal of the nipple position, and then find Go where the signal is strongest.
或者，通过有监督学习获取乳头位置的patch(补丁)和不是乳头位置的patches来进行深度学习训练，让神经网络来定位乳头。Or, through supervised learning to obtain the patch (patch) of the nipple position and the patches that are not the nipple position for deep learning training, let the neural network locate the nipple.
另外，上述两种方法还可以由其他无监督滤波器(filter),有监督方法代替。In addition, the above two methods can also be replaced by other unsupervised filters and supervised methods.
在本发明的其他实施例中，进一步的，处理器还可用于根据乳头图像初始位置以及不同位置扫描得到的图像的乳头图像位移，对不同位置扫描得到的图像进行拼接，得到整体扫描部位的物理全貌。在这种情况下，能够更方便地获得更为完善的数据。另外，处理器还可以根据计算实时显示示意图，查看当前扫描相对于AP位置上下左右移动的物理空间位移以及机械手探头13自传的角度。以便于扫描人员更加形象直观的观看到扫描的位置。In other embodiments of the present invention, further, the processor can also be used to stitch the images scanned at different positions according to the initial position of the nipple image and the displacement of the nipple image of the images scanned at different positions to obtain the physical location of the whole scanned part. the whole picture. In this case, more complete data can be obtained more easily. In addition, the processor can also display the schematic diagram in real time according to the calculation, and view the physical spatial displacement of the current scan relative to the AP position moving up, down, left, and right, and the angle of the autobiography of the manipulator probe 13 . In order to facilitate the scanner to view the scanning position more visually and intuitively.
进一步地，处理器还可以根据扫描人员手动点击的乳头位置(除AP位置上的)，自动校准空间坐标，用于下一次的扫描位置判断和乳头位置判断。Furthermore, the processor can also automatically calibrate the spatial coordinates according to the nipple position manually clicked by the scanner (except the AP position), for the next scan position judgment and nipple position judgment.
在本实施例中，第一、第二和第三自转角度编码器21，22和23都通过同一个处理器进行处理，更具体的说，该处理器设置在机柜内，上述编码器通过连接线连接到机柜，从而与处理器相连。但本发明不限于此，在其他实施例中，各个编码器和处理器也可以根据需要，以其他方式连接和实现本发明中的功能。In this embodiment, the first, second and third rotation angle encoders 21, 22 and 23 are all processed by the same processor, more specifically, the processor is arranged in the cabinet, and the above-mentioned encoders are connected through The wires are connected to the cabinet and thus connected to the processor. But the present invention is not limited thereto, and in other embodiments, each encoder and processor can also be connected in other ways and realize the functions in the present invention as required.
需要说明的是，在本发明提及的所有文献都在本申请中引用作为参考，就如同每一篇文献被单独引用作为参考那样。此外应理解，在阅读了本发明的上述讲授内容之后，本领域技术人员可以对本发明作各种改动或修改，这些等价形式同样落于本申请所附权利要求书所限定的范围。It should be noted that all documents mentioned in this application are incorporated by reference in this application, just as if each document is individually cited as a reference. In addition, it should be understood that after reading the above teaching content of the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms also fall within the scope defined by the appended claims of the present application.
并且，在本专利的权利要求书和说明书中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。本专利的权利要求书和说明书中，如果提到根据某要素执行某行为，则是指至少根据该要素执行该行为的意思，其中包括了两种情况：仅根据该要素执行该行为、和根据该要素和其它要素执行该行为。Also, in the claims and description of this patent, relative terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply these No such actual relationship or order exists between entities or operations. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elements inherent in such a process, method, article, or device. Without further limitations, an element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element. In the claims and description of this patent, if it is mentioned that an action is performed according to a certain element, it means that the action is performed according to the element at least, which includes two situations: performing the action only based on the element, and performing the action based on the element. This element and other elements perform the behavior.
虽然通过参照本发明的某些优选实施例，已经对本发明进行了图示和描述，但本领域的普通技术人员应该明白，可以在形式上和细节上对其作各种改变，而不偏离本发明的精神和范围。Although the present invention has been illustrated and described with reference to certain preferred embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the present invention. The spirit and scope of the invention.
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