CN111053599A - Ultrasound probe and ultrasound guidance system - Google Patents

Abstract

Translated fromChinese

本发明公开了一种超声探头及超声引导系统，包括毫米波雷达，毫米波雷达发射的第一毫米波为电磁波，其遇到医疗器械会反射，医疗器械相对于超声探头本体的空间位置不同，第一毫米波与第二毫米波之间的一些特征(例如时间差等)也不同，因此，基于第一毫米波与第二毫米波便可确定医疗器械相对于毫米波雷达的空间位置，再基于毫米波雷达与超声探头本体的位置关系便可确定穿刺针相对于超声探头本体的空间位置。采用毫米波雷达对医疗器械进行定位的方式，使得超声引导系统的结构简单、体积小且成本低，对电磁环境抗干扰能力强，长时间定位重复性及一致性好，不存在定位的空间位置随时间漂移现象。

The invention discloses an ultrasonic probe and an ultrasonic guidance system, comprising a millimeter wave radar. The first millimeter wave emitted by the millimeter wave radar is an electromagnetic wave, which will be reflected when encountering medical equipment, and the spatial positions of the medical equipment relative to the ultrasonic probe body are different. Some features (such as time difference, etc.) between the first millimeter wave and the second millimeter wave are also different. Therefore, the spatial position of the medical device relative to the millimeter wave radar can be determined based on the first millimeter wave and the second millimeter wave, and then based on the The positional relationship between the millimeter-wave radar and the ultrasonic probe body can determine the spatial position of the puncture needle relative to the ultrasonic probe body. The use of millimeter-wave radar to locate medical devices makes the ultrasonic guidance system simple in structure, small in size and low in cost, with strong anti-interference ability to the electromagnetic environment, good long-term positioning repeatability and consistency, and no spatial position for positioning. Drift phenomenon over time.

Description

Ultrasonic probe and ultrasonic guidance system

Technical Field

The invention relates to the technical field of ultrasonic positioning, in particular to an ultrasonic probe and an ultrasonic guide system.

Background

The ultrasonic puncture guiding function is applied more and more widely in clinic at present, and the real-time visualization function in the needle inserting process of the puncture operation can ensure that an operating doctor can puncture the correct tissue part. The ultrasound probe puncture guiding system comprises an ultrasound main machine and an ultrasound probe, and also comprises an auxiliary device generally, so as to position the relative position of the puncture needle and the ultrasound probe, and perform coordinate projection change and image stack display on an ultrasound image by the puncture needle based on the relative position.

The prior art ultrasound probe puncture guiding system generally adopts the following modes:

1) magnetic navigation positioning technique, magnetic navigation positioning technique include active magnetic navigation positioning technique and passive magnetic navigation positioning technique, and wherein, when adopting active magnetic navigation positioning technique, auxiliary device includes magnetic field generator, sets up the sensor coil on pjncture needle and ultrasonic probe to make ultrasonic probe puncture bootstrap system's structure comparatively complicated and bulky. When the passive magnetic navigation positioning technology is adopted, the auxiliary device comprises a magnetic sensor array arranged in the ultrasonic probe, in addition, the puncture needle needs to be magnetized, and the puncture needle positioning mode is easy to be interfered by an environmental magnetic field and has high cost.

2) The inertial navigation technique requires a large number of position sensors and angular velocity sensors when used. The inherent time drift phenomenon of inertial navigation enables the spatial position positioning accuracy of the puncture needle to drift gradually along with time, and the positioning accuracy of the puncture needle is reduced.

Therefore, how to provide a solution to the above technical problem is a problem that needs to be solved by those skilled in the art.

Disclosure of Invention

The invention aims to provide an ultrasonic probe and an ultrasonic guide system, so that the system where the ultrasonic probe is located has the advantages of simple structure, small volume, low cost, strong anti-interference capability to electromagnetic environment, and good long-time positioning repeatability and consistency.

In order to solve the technical problem, the invention provides an ultrasonic probe, which comprises an ultrasonic probe body for ultrasonic imaging and a millimeter wave radar arranged on the ultrasonic probe body and used for emitting first millimeter waves outwards and receiving second millimeter waves reflected by medical instruments.

Preferably, the millimeter wave radar includes:

a transmit-receive antenna;

and the processing module is used for controlling the transceiving antenna to emit the first millimeter waves outwards and processing the second millimeter waves reflected back by the transceiving antenna.

Preferably, the transceiver antenna is disposed on a side surface adjacent to a surface where the ultrasonic transducer in the ultrasonic probe body is located.

Preferably, the number of the receiving and transmitting antennas is multiple, and the millimeter wave radar further comprises a switching module;

the switching module is used for switching the millimeter wave receiving and sending received by the plurality of receiving and sending antennas based on the control of the processing module.

Preferably, the number of the transmitting and receiving antennas is 1, and the millimeter wave radar further comprises a driving device;

the processing module is further used for controlling the transceiving antenna to change the sending angle and the receiving angle through the driving device so as to obtain first millimeter waves of the transceiving antenna at different sending angles and second millimeter waves received by the transceiving antenna at different receiving angles.

In order to solve the above technical problem, the present invention further provides an ultrasound guidance system, including the ultrasound probe as described above, further including:

the ultrasonic host is connected with the ultrasonic probe and used for determining the spatial position of the medical instrument relative to the ultrasonic probe body according to the information sent by the ultrasonic probe, calculating the display effect of the medical instrument on an ultrasonic imaging surface and superposing the display effect with an ultrasonic image;

and the display device is used for displaying the superposed images.

Preferably, the determining the spatial position of the medical instrument relative to the ultrasound probe body according to the information transmitted by the ultrasound probe comprises:

the ultrasonic probe sends the information output by the millimeter wave radar to the ultrasonic host;

the ultrasonic host analyzes the information to obtain the spatial positions of a plurality of points on the surface of the medical instrument relative to the millimeter wave radar;

and determining the spatial position of one or more other points of the medical instrument relative to the ultrasonic probe body according to the spatial positions of the plurality of points relative to the millimeter wave radar.

Preferably, the determining the spatial position of the other point or points of the medical instrument relative to the millimeter wave radar according to the spatial positions of the plurality of points relative to the millimeter wave radar includes:

calculating the contour feature of the medical instrument according to the spatial positions of the points relative to the millimeter wave radar, judging the type of the medical instrument according to the contour feature, and calculating the spatial position of one or more other points of the medical instrument relative to the ultrasonic probe body according to preset size data of the type; or

And calculating the spatial position of one or more other points of the medical instrument relative to the ultrasonic probe body according to the spatial positions of the multiple points relative to the millimeter wave radar and the preset size data of the medical instrument.

Preferably, the calculating and overlaying the display effect of the medical instrument on the ultrasonic imaging surface with the ultrasonic image comprises:

calculating a projection area of the medical instrument on the ultrasonic imaging surface according to the spatial position of the medical instrument relative to the ultrasonic probe body and the spatial positions of the ultrasonic imaging surface and the ultrasonic probe body, and overlaying and marking the projection area on the ultrasonic image.

Preferably, the calculating the display effect of the medical instrument on the ultrasound imaging plane and the superimposing with the ultrasound image further includes:

and calculating the intersection point of the extension line of the specific axis of the medical instrument and the ultrasonic imaging plane according to the spatial position of the medical instrument relative to the ultrasonic probe body and the spatial positions of the ultrasonic imaging plane and the ultrasonic probe body, and superposing and identifying the intersection point on the ultrasonic image.

The invention provides an ultrasonic probe which comprises a millimeter wave radar, wherein first millimeter waves emitted by the millimeter wave radar are electromagnetic waves, the electromagnetic waves are reflected when encountering medical instruments, the spatial positions of the medical instruments relative to an ultrasonic probe body are different, and some characteristics (such as time difference and the like) between the first millimeter waves and second millimeter waves are also different, so that the spatial positions of the medical instruments relative to the millimeter wave radar can be determined based on the first millimeter waves and the second millimeter waves, and then the spatial positions of puncture needles relative to the ultrasonic probe body can be determined based on the position relation between the millimeter wave radar and the ultrasonic probe body. The mode that adopts millimeter wave radar to fix a position medical instrument for ultrasonic guidance system's simple structure, small and with low costs, strong to electromagnetic environment interference killing feature, long-time location repeatability and uniformity are good, do not have the spatial position of location to drift the phenomenon along with time.

The invention also provides an ultrasonic guiding system which has the same beneficial effects as the ultrasonic probe.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed in the prior art and the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic structural diagram of an ultrasonic probe provided by the present invention;

FIG. 2 is a schematic view of the position of an ultrasound probe and a puncture needle during operation according to the present invention;

FIG. 3 is a schematic structural diagram of an ultrasound guidance system provided by the present invention;

FIG. 4 is a schematic diagram of an ultrasound guidance system provided by the present invention;

fig. 5 is a schematic diagram of the positioning of the needle tip of the puncture needle provided by the invention.

Detailed Description

The core of the invention is to provide an ultrasonic probe and an ultrasonic guide system, so that the system where the ultrasonic probe is located has the advantages of simple structure, small volume, low cost, strong anti-interference capability to electromagnetic environment, and good repeatability and consistency of long-time positioning.

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1, fig. 1 is a schematic structural diagram of an ultrasound probe according to the present invention.

The ultrasonic probe comprises anultrasonic probe body 11 for ultrasonic imaging and amillimeter wave radar 12 arranged on theultrasonic probe body 11 and used for emitting first millimeter waves outwards and receiving second millimeter waves reflected by medical instruments.

First, it should be noted that, in the present application, theultrasonic probe body 11 is configured to send an ultrasonic signal outwards and receive a returned ultrasonic echo signal, so that a subsequent ultrasonic host processes the ultrasonic echo signal to obtain an ultrasonic image. In consideration of the defects that the detection system in the prior art is large in size, high in cost or prone to electromagnetic interference when the position of the medical instrument and theultrasonic probe body 11 is detected by the detection system. This application adopts the scheme that combines together radar ranging andultrasonic probe body 11, solves above-mentioned technical problem.

Themillimeter wave radar 12 is selected for the radar in the application, and themillimeter wave radar 12 is a radar which works in a millimeter wave band for detection, and has the advantages of small volume, light weight, strong anti-interference capability to an electromagnetic environment, good repeatability and consistency of long-time positioning and no phenomenon that the positioned space position drifts along with time. Themillimeter wave radar 12 has a remarkable feature that the millimeter waves emitted outwards reflect the millimeter waves when encountering an obstacle, particularly a metal obstacle, the millimeter waves are strongly reflected, and the distance between the obstacle and themillimeter wave radar 12 can be obtained based on the time difference between the emission and the reception.

Based on the above principle, in this application, ultrasonic probe includesultrasonic probe body 11, still be provided withmillimeter wave radar 12 on theultrasonic probe body 11,millimeter wave radar 12 can outwards launch first millimeter wave, first millimeter wave can reflect the second millimeter wave back when meetting medical instrument, then based on the time difference of first millimeter wave and second millimeter wave alright confirm the spatial position of medical instrument formillimeter wave radar 12, because the positional relationship betweenmillimeter wave radar 12 and theultrasonic probe body 11 is known again, then follow-up based on the positional relationship ofmillimeter wave radar 12 andultrasonic probe body 11 alright confirm the spatial position of medical instrument forultrasonic probe body 11 again.

Note that, when the spatial position of the medical instrument with respect to theultrasound probe body 11 is different, some characteristics (e.g., time difference, etc.) between the first millimeter wave and the second millimeter wave are also different. In addition, the spatial position of the medical instrument relative to theultrasonic probe body 11 may specifically be the position of the medical instrument relative to the bottom surface of theultrasonic probe body 11, that is, the center of the contact surface with the object to be measured. In addition, the medical device is mainly made of metal, and the medical device may be, but is not limited to, a puncture needle, and the present application is not limited thereto.

In conclusion, themillimeter wave radar 12 and theultrasonic probe body 11 are combined, the position of the medical instrument relative to theultrasonic probe body 11 can be detected, and based on the characteristics of themillimeter wave radar 12, the system where the ultrasonic probe is located is simple in structure, small in size, low in cost, strong in anti-interference capacity on electromagnetic environment, good in long-time positioning repeatability and consistency, and free of the phenomenon that the positioned space position drifts along with time.

On the basis of the above-described embodiment:

as a preferred embodiment, themillimeter wave radar 12 includes:

a transmit-receive antenna;

and the processing module is used for controlling the transceiving antenna to emit the first millimeter waves outwards and processing the second millimeter waves reflected back by the transceiving antenna.

It should be noted that, the transceiver antenna herein may include two independent antennas, specifically, a transmitting antenna and a receiving antenna, where the transmitting antenna realizes transmission of a first millimeter wave, and the receiving antenna realizes reception of a second millimeter wave; the first millimeter wave can be transmitted through the first antenna, and the second millimeter wave can be received through the second antenna. The present application is not particularly limited as to how the transmitting and receiving antenna is specifically arranged, and the arrangement is determined according to actual situations.

Themillimeter wave radar 12 includes a transceiver antenna and a processing module, wherein the processing module controls the transceiver antenna to emit a first millimeter wave, the first millimeter wave reflects the first millimeter wave when encountering the medical instrument to obtain a second millimeter wave, and the transceiver antenna receives the second millimeter wave and transmits the second millimeter wave to the processing module. And the medical instrument can be positioned according to the time difference between the first millimeter wave and the second millimeter wave. It can be seen that themillimeter wave radar 12 provided by the present application has a simple structure, a small volume and a low cost.

In addition, themillimeter wave radar 12 may further include a filtering module, configured to perform filtering processing on the received second millimeter wave to obtain a pure second millimeter wave, so as to improve the positioning accuracy of subsequent medical devices.

As a preferred embodiment, the transmitting and receiving antenna is disposed on a side surface adjacent to a surface on which the ultrasonic transducer in theultrasonic probe body 11 is located.

Taking a medical instrument as an example, please refer to fig. 2, and fig. 2 is a schematic diagram of the positions of an ultrasound probe and a puncture needle during working according to the present invention. The bottom surface (i.e. the surface in contact with the body to be measured) of theultrasonic probe body 11 is provided with an ultrasonic transducer, and the side surface is provided with a transmitting and receiving antenna.

Specifically, the ultrasonic transducer in theultrasonic probe body 11 is used for sending an ultrasonic signal to the body to be measured and receiving an ultrasonic echo signal, and the surface where the ultrasonic transducer is located is directly facing the body to be measured, in consideration of the fact that the water content in the body to be measured is high, and the penetrability of the millimeter waves to liquid is poor, that is, the millimeter waves reflected back when the millimeter waves are sent to the liquid are less, so that the millimeter waves returned by the part of the medical instrument located in the body to be measured (for example, a puncture needle, a part of the puncture needle is generally located in the body to be measured, and a part of the puncture needle is located outside the body to be measured) are not analyzed, but the millimeter waves reflected by the part of the body to be measured are analyzed, so as to obtain.

It can be seen that the direction of the millimeter wave transmitted by the transceiver antenna is usually different from the direction of the ultrasonic signal transmitted by the ultrasonic transducer, so that the transceiver antenna can be disposed on the side surface adjacent to the surface where the ultrasonic transducer is located, so as to implement position detection of the medical instrument.

In addition, considering that the housing of the ultrasonic probe is generally non-metallic, such as a plastic material, and the thickness is not too thick, which has little influence on the millimeter waves, the transceiver antenna may be disposed on the inner side surface; of course, in order to reduce the interference of the millimeter wave to the housing during transmission as much as possible and to pursue higher detection accuracy, the transceiver antenna may be disposed on the outer side surface, or a hole may be provided in the housing of theultrasound probe body 11, and the transceiver antenna is disposed in the hole. The present application is not limited to a specific arrangement of the transmitting/receiving antenna in order to satisfy the object of the present application.

As a preferred embodiment, there are a plurality of transmitting and receiving antennas, and themillimeter wave radar 12 further includes a switching module;

the switching module is used for switching the millimeter wave transceiving of the plurality of transceiving antennas based on the control of the processing module.

As a preferred embodiment, the number of the transmitting and receiving antennas is 1, and themillimeter wave radar 12 further includes a driving device;

the processing module is also used for controlling the transceiving antenna to change the transmitting and receiving angles through the driving device so as to obtain first millimeter waves received by the transceiving antenna at different transmitting angles and second millimeter waves received by the transceiving antenna at different receiving angles.

As mentioned above, in order to obtain the position of the medical instrument relative to theultrasound probe body 11, the positional relationship between the transceiver antenna and the medical instrument may be obtained first, and then the positional relationship between the medical instrument and theultrasound probe body 11 may be obtained based on the positional relationship between the transceiver antenna and theultrasound probe body 11. The number of the transmitting/receiving antennas may be plural or one in order to obtain the positional relationship between the transmitting/receiving antenna and the medical instrument.

Specifically, when the number of the transceiver antennas is multiple, the processing module controls each transceiver antenna to emit the first millimeter waves outwards, and the transceiver antennas transmit the second millimeter waves to the processing module after receiving the second millimeter waves. Each receiving and transmitting antenna can be directly connected with the processing module, and can realize simultaneous transmission of the first millimeter waves and simultaneous reception of the second millimeter waves based on the control of the processing module, and transmit the received second millimeter waves to the processing module simultaneously. However, considering that the number of the interfaces of the processing module is constant, in order to reduce the occupation of the interfaces of the processing module, in this embodiment, a switching module is disposed between one interface of the processing module and the plurality of transceiving antennas, and is used for switching the transceiving of the millimeter waves of the transceiving antennas under the control of the processing module. The switching module can be, but is not limited to, a single-pole multi-throw switch.

For example, the processing module controls the switching module to switch to a first transceiving antenna, the first transceiving antenna sends a first millimeter wave and receives a returned second millimeter wave, the first transceiving antenna sends the received second millimeter wave to the processing module, then the processing module controls the switching module to switch to a second transceiving antenna, the second transceiving antenna sends the second millimeter wave and receives the second millimeter wave, and sends the received second millimeter wave to the processing module, and so on, thereby realizing the transceiving of a plurality of millimeter waves by the processing module through one interface.

When the number of the transceiver antennas is one, themillimeter wave radar 12 further includes a driving device, and the processing module may control the transmitting angle and the receiving angle of the transceiver antennas through the driving device, so as to obtain first millimeter waves at different transmitting angles and second millimeter waves at different receiving angles. Therefore, in this way, only one transmitting and receiving antenna needs to be arranged, and the occupation of the transmitting and receiving antenna on the space of theultrasonic probe body 11 is reduced.

Referring to fig. 3, fig. 3 is a schematic structural diagram of an ultrasound guiding system provided in the present invention.

The ultrasound guidance system includes theultrasound probe 1 as in any of the above embodiments, and further includes:

theultrasonic host 2 is connected with theultrasonic probe 1 and used for determining the spatial position of the medical instrument relative to theultrasonic probe body 11 according to the information sent by theultrasonic probe 1, calculating the display effect of the medical instrument on an ultrasonic imaging surface and overlapping the display effect with the ultrasonic image;

and adisplay device 3 for displaying the superimposed image.

Specifically, theultrasound host 2 is generally configured to control theultrasound probe body 11 to emit an ultrasound signal outwards, receive a returned ultrasound echo signal, and then process the ultrasound echo signal to obtain an ultrasound image. In addition, in the present application, the ultrasoundmain unit 2 receives information transmitted from theultrasound probe 1. Here, the information may be information (e.g., time difference) including the first millimeter wave and the second millimeter wave, so that thesubsequent ultrasound mainframe 2 obtains the spatial position of the medical instrument with respect to theultrasound probe body 11 based on the information; or, the information here may be a spatial position of the medical instrument relative to theultrasound probe body 11, that is, the processing module is further configured to obtain a spatial position of the medical instrument relative to the transceiver antenna according to the first millimeter wave and the second millimeter wave, and then obtain a spatial position of the medical instrument relative to theultrasound probe body 11 based on a positional relationship between the transceiver antenna and theultrasound probe body 11; or the information here may be the spatial position of the medical instrument relative to the millimeter wave radar 12 (i.e., the transceiver antenna), and then thesubsequent ultrasound mainframe 2 may also obtain the spatial position of the medical instrument relative to theultrasound probe body 11 based on the positional relationship between the transceiver antenna and theultrasound probe body 11. Then, theultrasound mainframe 2 can calculate the display effect of the medical instrument on the ultrasound imaging surface based on the information and superimpose the display effect with the ultrasound image, that is, superimpose the medical instrument with the ultrasound image and display the result on thedisplay device 3.

Referring to fig. 4, fig. 4 is a schematic diagram of an ultrasound guiding system provided by the present invention, in which aplane 1 refers to an ultrasound imaging plane, and aplane 2 refers to a bottom surface of anultrasound probe body 11, and may also be referred to as an ultrasound transducer or an ultrasound array element plane. FIG. 4 illustrates a medical instrument superimposed on an ultrasound imaging plane.

Therefore, the mode of positioning the medical instrument by themillimeter wave radar 12 is adopted, so that the ultrasonic guidance system is simple in structure, small in size, low in cost, strong in anti-interference capability to electromagnetic environment, good in long-time positioning repeatability and consistency, and free of the phenomenon that the positioned space position drifts along with time.

As a preferred embodiment, determining the spatial position of the medical instrument with respect to theultrasound probe body 11 from the information transmitted by theultrasound probe 1 comprises:

theultrasonic probe 1 sends the information output by themillimeter wave radar 12 to theultrasonic host 2;

theultrasonic host 2 analyzes the information to obtain the spatial positions of a plurality of points on the surface of the medical instrument relative to themillimeter wave radar 12;

the spatial position of the other point or points of the medical instrument relative to theultrasonic probe body 11 is determined from the spatial positions of the plurality of points relative to themillimeter wave radar 12.

Specifically, in this embodiment, the processing module further obtains spatial positions of a plurality of points on the medical instrument relative to the millimeter-wave radar 12, that is, the transceiver antenna, based on the first millimeter wave and the second millimeter wave, and after receiving the spatial positions of the plurality of points relative to the millimeter-wave radar 12, theultrasound mainframe 2 further obtains the spatial positions of the plurality of points relative to theultrasound probe body 11 by combining the plurality of spatial positions and the positional relationship of the transceiver antenna relative to theultrasound mainframe 2 body, and since the size of the medical instrument is fixed and the direction of the medical instrument can be determined according to the plurality of points, the spatial position of one point (for example, the needle tail of the puncture needle) relative to theultrasound probe body 11 and the direction can be used to calculate the spatial position of the other point or the plurality of points relative to the ultrasound.

Taking a medical instrument as an example of a puncture needle, considering that the liquid has poor reflection performance, in order to improve the detection accuracy, themillimeter wave radar 12 may send a first millimeter wave to the puncture needle located outside the body to be detected and receive a second millimeter wave, analyze the received second millimeter wave to obtain a spatial position of the needle tail relative to theultrasound probe body 11, and then obtain a spatial position of another point (preferably located outside the body to be detected) on the puncture needle relative to theultrasound probe body 11, so that the direction of the puncture needle can be determined based on the needle tail and the another point, and the spatial position of the other point (for example, the needle tip) or a plurality of points on the puncture needle relative to theultrasound probe body 11 can be obtained by combining the spatial position of the needle tail relative to theultrasound probe body 11, the direction of the puncture needle, and the size of the.

As a preferred embodiment, determining the spatial position of the other point or points of the medical instrument with respect to themillimeter wave radar 12 based on the spatial positions of the plurality of points with respect to themillimeter wave radar 12 includes:

calculating the profile characteristics of the medical instrument according to the spatial positions of the points relative to themillimeter wave radar 12, judging the type of the medical instrument according to the profile characteristics, and calculating the spatial position of one or more other points of the medical instrument relative to theultrasonic probe body 11 according to preset size data of the type; or

The spatial position of the other point or points of the medical instrument relative to theultrasonic probe body 11 is estimated from the spatial positions of the plurality of points relative to themillimeter wave radar 12 and the preset size data of the medical instrument.

In this embodiment, the size data of the medical instrument may be stored in advance, and in this manner, the size data needs to be determined in advance every time the medical instrument is replaced; the corresponding relation between the type of the medical instrument and the size data can be stored in advance, the medical instrument can be directly used in the mode, the type of the medical instrument is determined in the follow-up process, and then the size data of the medical instrument of the type can be directly determined according to the corresponding relation between the type of the medical instrument and the size data.

In particular, considering that different types of medical instruments may have different profile characteristics, taking the puncture needle as an example, a concave pit is arranged on the puncture needle near the needle tail, a convex pit is arranged on the puncture needle near the needle tail, and of course, other profiles and the like are possible. Based on this, the spatial positions of the plurality of points on the medical instrument relative to themillimeter wave radar 12 can be obtained first, the spatial positions of the plurality of points relative to theultrasonic probe body 11 can be obtained based on the spatial positions, the profile feature of the medical instrument can be obtained based on the spatial positions of the plurality of points relative to theultrasonic probe body 11, the size data of the medical instrument of the type can be obtained based on the type and the corresponding relationship between the type and the size data according to the type of the medical instrument corresponding to the profile feature, and the spatial positions of one or more other points (e.g., the needle point) of the medical instrument relative to theultrasonic probe body 11 can be calculated by combining the spatial positions of the plurality of points (e.g., two points, one of which is the needle tail) relative to theultrasonic probe body 11 and the preset size data of the.

Of course, in practical applications, the size data of the medical instrument may also be directly input first, so that after the spatial positions of a plurality of points (for example, two points, one of which is the needle tail) relative to theultrasound probe body 11 are obtained, the spatial positions of one or more other points (for example, the needle tip) of the medical instrument relative to theultrasound probe body 11 can be calculated by directly combining the size data of the medical instrument.

The specific application is not particularly limited, and is determined according to the actual situation.

As a preferred embodiment, calculating the display effect of the medical instrument on the ultrasound imaging plane and overlapping the ultrasound image includes:

according to the spatial position of the medical instrument relative to theultrasonic probe body 11, the ultrasonic imaging surface and the spatial position of theultrasonic probe body 11, a projection area of the medical instrument on the ultrasonic imaging surface is calculated, and the projection area is superposed and marked on the ultrasonic image.

Specifically, after the spatial position of the medical instrument relative to theultrasound probe body 11 is obtained, the spatial position and the spatial positions of the ultrasound imaging plane and theultrasound probe body 11 may be combined to obtain a projection area of the medical instrument on the ultrasound imaging plane, and the projection area is superimposed and identified on the ultrasound image. The mark can be a color mark, that is, the color of the medical instrument is different from the background color of the ultrasound imaging surface. The identifier here may be other identifiers, and the present application is not limited thereto.

As a preferred embodiment, the method for calculating the display effect of the medical instrument on the ultrasonic imaging surface and overlapping the ultrasonic image further comprises the following steps:

and calculating the intersection point of the extension line of the specific axis of the medical instrument and the ultrasonic imaging surface according to the spatial position of the medical instrument relative to theultrasonic probe body 11 and the spatial positions of the ultrasonic imaging surface and theultrasonic probe body 11, and superposing and identifying the intersection point on the ultrasonic image.

Referring to fig. 5, fig. 5 is a schematic diagram of the positioning of the needle tip of the puncture needle according to the present invention. In fig. 5, a space coordinate system is established with the bottom surface of theultrasonic probe body 11, that is, the center of the contact surface of theultrasonic probe body 11 and the object to be measured, as a coordinate origin, where the coordinate origin is an O point, the bottom surface of theultrasonic probe body 11 is an XOZ surface (which may also be referred to as an ultrasonic transducer or an ultrasonic array element plane), and the XOY surface is an ultrasonic imaging surface.

Taking a medical instrument as an example, the intersection point of the axial extension line of the puncture needle along the long axis direction and the ultrasonic imaging plane is a current target point which is reached by the puncture needle after the puncture needle is continuously inserted along the current insertion direction, and after the intersection point is calculated, the intersection point can be marked on the ultrasonic image in a color mode and the like. In practical application, an actual target point can be set on the ultrasonic imaging surface in advance, and the insertion direction of the puncture needle can be adjusted based on the deviation between the intersection point and the actual target point in the insertion process of the puncture needle, so that the accurate insertion of the puncture needle is realized, and the precision is high.

It is to be noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

Translated fromChinese

1.一种超声探头，包括用于超声成像的超声探头本体，其特征在于，还包括设置于所述超声探头本体上的毫米波雷达，用于向外发射第一毫米波，并接收医疗器械反射回来的第二毫米波。1. an ultrasonic probe comprising an ultrasonic probe body for ultrasonic imaging, characterized in that it also comprises a millimeter-wave radar arranged on the ultrasonic probe body, for emitting the first millimeter wave outward, and receiving medical instruments The second millimeter wave reflected back.2.如权利要求1所述的超声探头，其特征在于，所述毫米波雷达包括：2. The ultrasonic probe according to claim 1, wherein the millimeter wave radar comprises:收发天线；transceiver antenna;处理模块，用于控制所述收发天线向外发射第一毫米波，并处理通过所述收发天线接收反射回来的第二毫米波。The processing module is configured to control the transceiver antenna to transmit the first millimeter wave outward, and process the second millimeter wave reflected back through the transceiver antenna.3.如权利要求2所述的超声探头，其特征在于，所述收发天线设置于与所述超声探头本体中的超声换能器所在面相邻的侧面。3 . The ultrasonic probe of claim 2 , wherein the transceiver antenna is disposed on a side surface adjacent to the surface where the ultrasonic transducer in the ultrasonic probe body is located. 4 .4.如权利要求2或3所述的超声探头，其特征在于，所述收发天线为多个，所述毫米波雷达还包括一个切换模块；4. The ultrasonic probe according to claim 2 or 3, wherein the number of said transceiver antennas is multiple, and the millimeter-wave radar further comprises a switching module;所述切换模块用于基于所述处理模块的控制切换多个所述收发天线的毫米波收发。The switching module is configured to switch the millimeter wave transmission and reception of the plurality of transmission and reception antennas based on the control of the processing module.5.如权利要求2或3所述的超声探头，其特征在于，所述收发天线为1个，所述毫米波雷达还包括驱动装置；5. The ultrasonic probe according to claim 2 or 3, wherein the number of the transceiver antenna is one, and the millimeter-wave radar further comprises a driving device;所述处理模块还用于通过所述驱动装置控制所述收发天线变换发送角度及接收角度，以得到所述收发天线在不同的发送角度下的第一毫米波及不同的接收角度下接收到的第二毫米波。The processing module is further configured to control the transceiver antenna to change the transmission angle and the reception angle through the drive device, so as to obtain the first millimeter wave received by the transceiver antenna at different transmission angles and the first millimeter waves received at different reception angles. two millimeter waves.6.一种超声引导系统，其特征在于，包括如权利要求1至5任一项所述的超声探头，还包括：6. An ultrasonic guidance system, characterized in that, comprising the ultrasonic probe according to any one of claims 1 to 5, further comprising:超声主机，与所述超声探头连接，用于根据所述超声探头发送的信息确定所述医疗器械相对于所述超声探头本体的空间位置，计算所述医疗器械在超声成像面上的显示效果并与超声图像叠加；The ultrasonic host is connected to the ultrasonic probe, and is used to determine the spatial position of the medical device relative to the ultrasonic probe body according to the information sent by the ultrasonic probe, calculate the display effect of the medical device on the ultrasonic imaging surface, and calculate the display effect of the medical device on the ultrasonic imaging surface. superimposed with the ultrasound image;显示装置，用于对叠加后的图像进行显示。The display device is used for displaying the superimposed image.7.如权利要求6所述的超声引导系统，其特征在于，所述根据所述超声探头发送的信息确定所述医疗器械相对于所述超声探头本体的空间位置，包括：7. The ultrasound guidance system according to claim 6, wherein the determining the spatial position of the medical device relative to the ultrasound probe body according to the information sent by the ultrasound probe comprises:所述超声探头将所述毫米波雷达输出的信息发送给所述超声主机；The ultrasonic probe sends the information output by the millimeter wave radar to the ultrasonic host;所述超声主机解析所述信息，得出所述医疗器械表面多个点相对于所述毫米波雷达的空间位置；The ultrasonic host parses the information to obtain the spatial positions of multiple points on the surface of the medical device relative to the millimeter-wave radar;根据所述多个点相对于所述毫米波雷达的空间位置，确定所述医疗器械其他一个点或若干个点相对于所述超声探头本体的空间位置。According to the spatial positions of the multiple points relative to the millimeter-wave radar, the spatial positions of the other point or points of the medical device relative to the ultrasonic probe body are determined.8.如权利要求7所述的超声引导系统，其特征在于，所述根据所述多个点相对于所述毫米波雷达的空间位置，确定所述医疗器械其他一个点或若干个点相对于所述超声探头本体的空间位置，包括：8 . The ultrasonic guidance system according to claim 7 , wherein, according to the spatial positions of the multiple points relative to the millimeter-wave radar, it is determined that another point or points of the medical device are relative to the millimeter wave radar. 9 . The spatial position of the ultrasonic probe body, including:根据所述多个点相对于所述毫米波雷达的空间位置，计算所述医疗器械的轮廓特征，根据所述轮廓特征判断所述医疗器械的类型，并根据所述类型的预设尺寸数据推算所述医疗器械其他一个点或若干个点相对于所述超声探头本体的空间位置；或According to the spatial positions of the multiple points relative to the millimeter-wave radar, the contour feature of the medical device is calculated, the type of the medical device is determined according to the contour feature, and the type is estimated according to the preset size data of the type The spatial position of the other point or points of the medical device relative to the ultrasound probe body; or根据所述多个点相对于所述毫米波雷达的空间位置，以及所述医疗器械的预设尺寸数据推算所述医疗器械其他一个点或若干个点相对于所述超声探头本体的空间位置。According to the spatial positions of the multiple points relative to the millimeter-wave radar and the preset size data of the medical device, the spatial positions of one or several other points of the medical device relative to the ultrasonic probe body are calculated.9.如权利要求6所述的超声引导系统，其特征在于，所述计算所述医疗器械在超声成像面上的显示效果并与超声图像叠加，包括：9 . The ultrasound guidance system according to claim 6 , wherein calculating the display effect of the medical device on the ultrasound imaging surface and superimposing it with the ultrasound image, comprising: 10 .根据所述医疗器械相对于所述超声探头本体的空间位置、所述超声成像面与所述超声探头本体的空间位置，计算所述医疗器械在所述超声成像面上的投影区域，并在所述超声图像上叠加标识出所述投影区域。According to the spatial position of the medical instrument relative to the ultrasonic probe body, the spatial position of the ultrasonic imaging plane and the ultrasonic probe body, the projection area of the medical instrument on the ultrasonic imaging plane is calculated, and the projection area of the medical instrument on the ultrasonic imaging plane is calculated. The projection area is superimposed and marked on the ultrasound image.10.如权利要求9所述的超声引导系统，其特征在于，所述计算所述医疗器械在超声成像面上的显示效果并与超声图像叠加，还包括：10 . The ultrasound guidance system according to claim 9 , wherein the calculating the display effect of the medical device on the ultrasound imaging surface and superimposing it with the ultrasound image, further comprising: 10 .根据所述医疗器械相对于所述超声探头本体的空间位置、所述超声成像面与所述超声探头本体的空间位置，计算所述医疗器械特定轴线延长线与所述超声成像面的交点，并在所述超声图像上叠加标识出所述交点。According to the spatial position of the medical device relative to the ultrasonic probe body, the spatial position of the ultrasonic imaging surface and the ultrasonic probe body, calculate the intersection of the extension line of the specific axis of the medical device and the ultrasonic imaging surface, and The points of intersection are identified superimposed on the ultrasound image.

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