Summary of the invention
The present invention provides a kind of energy converter air navigation aid, to solve the problems of the prior art, the energy converter air navigation aidEnergy converter can be moved to after position to be checked is scanned imaging by mechanical arm automatically, can be according to scanning probe image afterContent, adjust automatically transducer position.
Particularly, energy converter of the invention navigation imaging device, comprising:
Energy converter, for carrying out transmitting and received ultrasonic signal to human body tissue to be checked；
Image processor, for the ultrasonic signal received to be synthesized ultrasound image；
Sensor, for acquiring the heat transfer agent of the sensor sensing target；
Associated processors generate energy converter motion track based on heat transfer agent, ultrasound image and control information；
Mechanical arm is connect with energy converter, for by energy converter according to motion track control information in human body tissue to be detected orInterior movement.
Further, the associated processors are moved based on the heat transfer agent production first for acquiring the sensor sensing targetDynamic TRAJECTORY CONTROL information；Energy converter is moved to tissue to be detected to control mechanical arm by the first movement TRAJECTORY CONTROL informationApproximate location.
Further, the associated processors are synthesized based on image processor ultrasound image, heat transfer agent generate transducingDevice combines motion track and controls information；The energy converter joint motion track control information exists energy converter to control mechanical armTissue to be detected carries out the fine tuning of energy converter three-dimensional coordinate.
Further, the associated processors include at least first processor, second processor；The first processor baseFirst movement TRAJECTORY CONTROL information is produced in the heat transfer agent for acquiring the sensor sensing target；The second processor is based onUltrasound image, the heat transfer agent production energy converter joint motion track of image processor synthesis control information.
Further, the sensor includes photographic device, range sensor, gyroscope, gravity sensor, light sensingIn device, pressure inductor it is one or more；The photographic device includes infrared eye.
Further, the gesture production control instruction information of the photographic device acquisition user generates the second motion trackControl information.
Further, the associated processors include convolutional neural networks processor；The convolutional neural networks processorUltrasound image, which is based on, by housebroken convolutional neural networks model automatically generates TRAJECTORY CONTROL information.
Further, which is characterized in that the equipment includes instruction inputting device；Described instruction input unit includes at leastOne of keyboard, touch screen, mouse are a variety of；The associated processors generate third moving rail based on the control instruction of inputMark controls information.
Particularly, the present invention provides a kind of energy converter air navigation aid, comprising the following steps:
Step 1, associated processors generate first movement TRAJECTORY CONTROL information based on the heat transfer agent that sensor obtains；
Energy converter is moved to tissue approximate region to be checked according to first movement TRAJECTORY CONTROL information by step 2, mechanical arm；
Step 3, energy converter are to tissue emissions to be checked and received ultrasonic signal；
Step 4, image processor synthesize ultrasonography according to ultrasonic signal；
Step 5, associated processors are based on ultrasonography and heat transfer agent generates joint motion track and controls information；
Energy converter is carried out three-dimensional coordinate fine tuning in tissue to be checked according to joint motion track control information by step 6, mechanical arm,To find the optimal suitable position of energy converter.
Further, step 2 associated processors generate third moving rail based on the control instruction that input unit inputsMark controls information.
Ultrasonic transducer navigation equipment high degree of automation of the invention, united controller is according to real-time ultrasonic image and drivesDynamic mechanical arm does the subtle adjustment of energy converter, substantially increases the working efficiency of ultrasound diagnosis.
Specific embodiment
Below in conjunction with attached drawing, detailed description of the preferred embodiments.It should be understood that this place is retouchedThe specific embodiment stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
In the examples below, term " first ", " second " are to act purely as label, and be not intended as the modification to themObject has numerical requirements.
" module " as described herein or " unit " or " processor ", it is intended that but be not limited to execute particular task software orHardware component, such as field programmable gate array (FPGA) or specific integrated circuit (ASIC) or processor, such as CPU, GPU.Module can be advantageously configured to reside in addressable storage medium and be configured to hold on the one or more processorsRow.Therefore, as an example, module may include component (such as component software, object oriented software component, class component and taskComponent), process, function, attribute, process, subroutine, program code segments, driver, firmware, microcode, circuit, data,Database, data structure, table, array and variable.The functionality provided in the module can be combined into less component and mouldBlock is further separated into additional component and module.
Term " ultrasound image " as used herein indicates the image of the object obtained by using ultrasonic wave.It is as used hereinTerm " object " may include lived thing or not have lived thing, moreover, object can refer to a part of human body, andIt may include organ or the blood vessel, nerve, bone, finger etc. of liver, heart, uterus, brain, breast, abdomen etc..ThisOutside, term " user " as used herein may include Medical Technologist, and can be doctor, nurse, Med Tech, ultrasound inspectionLook into worker, medical image expert etc..But user is not limited thereto.
Fig. 1,2 are energy converter provided by the invention navigation imaging device structure schematic diagram.As shown in Figure 1, the present invention providesA kind of energy converter navigates imaging device, including energy converter 100, mechanical arm 200, host 300 and tissue 400 to be checked, sensingDevice 500.Energy converter 100 is mounted on mechanical arm 200.The machine sensor 500 can cover inspection for acquiring energy converter 100Look into the image information of tissue to be checked in region.Sensor 500 can be installed on mechanical arm 200, can also be installed on ultrasoundOther suitable positions in inspection chamber.Sensor 500 of the present invention includes photographic device, range sensor, gyroscope, gravityOne of inductor, light sensor, pressure inductor are a variety of, and as shown in Figure 1 and Figure 2, the present invention includes three camera shooting dressesSet, such as camera, camera 510 acquire energy converter 100 location information, camera 520 acquire energy converter 100 with it is to be detectedThe image information of tissue, camera 530 acquire the gesture information or limbs information of medical staff.
The imaging system block diagram as shown in figure 3, energy converter provided by the invention navigates.Host 300 includes associated processors, figureAs processor；Associated processors are based on the heat transfer agent production first movement TRAJECTORY CONTROL letter for acquiring the sensor sensing targetBreath；Sensor sensing target can be the sky that can cover tissue to be checked in inspection area, gesture, limbs information, energy converterBetween coordinate information, the spatial coordinated information of human body, the spatial coordinated information of tissue to be checked, probe act on the pressure of human bodyValue, transducer face temperature value etc..Such as when popping one's head in table when the temperature is excessively high, then control energy converter and leave tissue surface to be checked,And it alarms.Energy converter 100 is moved to tissue 400 to be detected to control mechanical arm 200 by first movement TRAJECTORY CONTROL informationApproximate location.Ultrasound image that associated processors are synthesized based on image processor, heat transfer agent generate energy converter and combine moving railMark controls information；Energy converter joint motion track control information changes energy converter in tissue to be detected to control mechanical armThe fine tuning of energy device three-dimensional coordinate.Associated processors include at least first processor, second processor.
In another implementation of the invention, associated processors include first processor, second processor；First processingDevice produces first movement TRAJECTORY CONTROL information based on the heat transfer agent for acquiring the sensor sensing target；The second processorUltrasound image, heat transfer agent production energy converter joint motion track based on image processor synthesis control information.
The imaging system block diagram as shown in figure 5, energy converter provided by the invention navigates, associated processors include at coordinate synthesisManage device, first processor, second processor；The first processor is based on the heat transfer agent for acquiring the sensor sensing targetGenerate first movement TRAJECTORY CONTROL information；The second processor generates track control based on the ultrasound image that image processor synthesizesInformation processed, the joint that coordinate synthesis processor synthesizes probe according to first movement TRAJECTORY CONTROL information with TRAJECTORY CONTROL information are mobileTRAJECTORY CONTROL information.
Shown host further includes output device, input unit；Aobvious output device may be mounted on host, can also be independentAs display or projection exist.Output device as input unit and for providing a user information and image.TouchingIt is preferred that screen, which is touched, for user inputs and exports, but can certainly be with tracking ball, keyboard, control stick, mouseIt is used in combination together Deng one or more known user input apparatus in this technical field, and uses non-tactile screen.
Sensor 500 is used to acquire the various letters of energy converter, tissue to be detected, ambient enviroment, user's gesture or limbsBreath, such as the light intensity of light sensor acquisition ambient enviroment, when light level intensity is lower, the processor in host canTo adjust the gray scale of the ultrasound image on display according to the light intensity of induction.Or when camera 530 acquires medical staffGesture information or when limbs information, such as medical staff or user by brandish arm, clench fist, arm is placed on bodyThe transducing that the pre-set gesture information such as position, associated processors or first processor are acquired according to gesture information and sensorThe positional relationship of device and tissue to be detected generates the second motion track of energy converter and controls information.Such as when user's hand is placed on heartWhen position, associated processors control information control mechanical arm according to the second motion track and energy converter are moved to personnel's to be detectedThe approximate region of heart.When either selecting detection heart by keyboard or on the touchscreen as user, associated processors are rawInformation is controlled at two motion track of energy converter, associated processors control information control mechanical arm for transducing according to the second motion trackDevice is moved to the approximate region of the heart of personnel to be detected.
In one embodiment of the invention, energy converter, for carrying out transmitting to human body tissue to be checked and receiving ultrasoundWave signal；Image processor, for the ultrasonic signal received to be synthesized ultrasound image 310；Sensor, it is described for acquiringThe heat transfer agent of sensor sensing target；Associated processors generate the control of energy converter motion track based on heat transfer agent, ultrasound imageInformation processed；Mechanical arm is connect with energy converter, for energy converter to be controlled information in human body tissue to be detected according to motion trackOr interior movement.
As shown in figure 4, energy converter air navigation aid of the invention, includes the following steps
Step 1, associated processors generate first movement TRAJECTORY CONTROL information based on the heat transfer agent that sensor obtains；
Energy converter is moved to tissue approximate region to be checked according to first movement TRAJECTORY CONTROL information by step 2, mechanical arm；
Step 3, energy converter are to tissue emissions to be checked and received ultrasonic signal；
Step 4, image processor synthesize ultrasonography according to ultrasonic signal；
Step 5, associated processors are based on ultrasonography and heat transfer agent generates joint motion track and controls information；
Energy converter is carried out three-dimensional coordinate fine tuning in tissue to be checked according to joint motion track control information by step 6, mechanical arm,To find the optimal suitable position of energy converter.
Associated processors generate first movement TRAJECTORY CONTROL information based on the heat transfer agent that sensor obtains in step 1；?It can be associated processors and third generated together with the control information that input unit inputs based on the heat transfer agent that sensor obtainsMotion track controls information, such as when user selects detection heart by keyboard or on the touchscreen, associated processorsIt generates energy converter third motion track and controls information, associated processors control mechanical arm according to first movement TRAJECTORY CONTROL information willEnergy converter is moved to the approximate region of the heart of personnel to be detected.
In step 5, associated processors are based on ultrasonography and heat transfer agent generates joint motion track and controls information；ExampleAs associated processors are gone and the life of the positional relationship of heart to be detected based on the transducing that ultrasonic wave cardiac image and sensor detectInformation is controlled at joint motion track.Or associated processors are based on ultrasonography, heat transfer agent, the input information of userTriplicity generates joint motion track and controls information, such as when selecting user further to select detection cardiac flow, connectionClose the input information triplicity life of location information, user of the processor based on ultrasonic wave cardiac image, energy converter and heartInformation is controlled at joint motion track.
Ultrasonic transducer navigation equipment of the invention is additionally provided with pressure sensor, and pressure sensor is mounted on the end of mechanical armEnd, and be electrically connected with control device, for detecting the pressure (pressure) of energy converter pressing target check point, when the pressure of detectionWhen (pressure) is greater than preset pressure (pressure), control device no longer controls the energy converter on mechanical arm and squeezes target check point,Prevent check object injured.
Ultrasonic transducer navigation equipment high degree of automation of the invention, united controller is according to real-time ultrasonic image and drivesDynamic mechanical arm does the subtle adjustment of energy converter, substantially increases the working efficiency of ultrasound diagnosis.
It is understood that the principle that embodiment of above is intended to be merely illustrative of the present and the exemplary implementation that usesMode, however the present invention is not limited thereto.For those skilled in the art, essence of the invention is not being departed fromIn the case where mind and essence, various changes and modifications can be made therein, these variations and modifications are also considered as protection scope of the present invention.