CN116350264A - Ultrasound apparatus, control method of ultrasound apparatus, and computer-readable storage medium - Google Patents
Ultrasound apparatus, control method of ultrasound apparatus, and computer-readable storage mediumDownload PDFInfo
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Abstract
Description
Translated fromChinese技术领域technical field
本申请涉及医疗器械技术领域，具体涉及一种超声装置、超声装置的控制方法和计算机可读存储介质。The present application relates to the technical field of medical devices, and in particular to an ultrasonic device, a control method of the ultrasonic device, and a computer-readable storage medium.
背景技术Background technique
介入手术中常使用超声装置进行引导，在手术过程中，需要医生手动控制超声探头并维持超声探头的位置，这对于医生的操作熟练度和体能提出了较高的要求。Ultrasound devices are often used for guidance in interventional surgery. During the operation, doctors need to manually control the ultrasound probe and maintain the position of the ultrasound probe, which puts forward higher requirements for the doctor's operational proficiency and physical fitness.
发明内容Contents of the invention
鉴于上述问题，提出了本发明以便提供克服上述问题或至少部分解决上述问题的一种超声装置、超声装置的控制方法和计算机可读存储介质。In view of the above problems, the present invention is proposed to provide an ultrasonic device, a control method of the ultrasonic device, and a computer-readable storage medium that overcome the above problems or at least partially solve the above problems.
根据本申请实施例的第一个方面，提供一种超声装置，包括：机械臂；超声探头，用于发射和接收超声信号，超声探头与机械臂连接，机械臂能够带动超声探头进行移动；一个或多个处理器，与机械臂和超声探头电连接以控制机械臂和超声探头；一个或多个处理器用于：获取用户输入的待测切面；获取待测切面的参考图像；控制机械臂将超声探头移动到待测切面对应的体表标志点并控制所述超声探头发射超声信号；获取超声探头接收到的超声信号并生成实测图像；比较参考图像和实测图像，以确定参考图像和实测图像的匹配度；基于匹配度控制机械臂带动超声探头移动，以改变超声探头的位姿，直到实测图像和参考图像的匹配度高于预设值。According to the first aspect of the embodiments of the present application, there is provided an ultrasonic device, including: a mechanical arm; an ultrasonic probe for transmitting and receiving ultrasonic signals, the ultrasonic probe is connected to the mechanical arm, and the mechanical arm can drive the ultrasonic probe to move; or a plurality of processors, electrically connected with the manipulator and the ultrasonic probe to control the manipulator and the ultrasonic probe; one or more processors are used to: acquire user-input slices to be measured; acquire reference images of the slices to be measured; control the manipulator to The ultrasonic probe moves to the body surface marker point corresponding to the section to be measured and controls the ultrasonic probe to emit ultrasonic signals; acquires the ultrasonic signals received by the ultrasonic probe and generates a measured image; compares the reference image with the measured image to determine the reference image and the measured image The matching degree; based on the matching degree, the mechanical arm is controlled to drive the ultrasonic probe to move to change the pose of the ultrasonic probe until the matching degree between the measured image and the reference image is higher than the preset value.
根据本申请实施例的第二个方面，提供一种超声装置的控制方法，超声装置包括机械臂和超声探头，超声探头用于发射和接收超声信号，超声探头与机械臂连接，机械臂能够带动超声探头进行移动，方法包括：获取用户输入的待测切面；获取待测切面的参考图像；控制机械臂将超声探头移动到待测切面对应的体表标志点并控制所述超声探头发射超声信号；获取超声探头接收到的超声信号并生成实测图像；比较参考图像和实测图像，以确定参考图像和实测图像的匹配度；基于匹配度控制机械臂带动超声探头移动，以改变超声探头的位姿，直到实测图像和参考图像的匹配度高于预设值。According to the second aspect of the embodiment of the present application, there is provided a control method of an ultrasonic device, the ultrasonic device includes a mechanical arm and an ultrasonic probe, the ultrasonic probe is used to transmit and receive ultrasonic signals, the ultrasonic probe is connected to the mechanical arm, and the mechanical arm can drive The ultrasonic probe is moved, the method includes: obtaining the section to be measured input by the user; obtaining the reference image of the section to be measured; controlling the mechanical arm to move the ultrasonic probe to the body surface marker point corresponding to the section to be measured and controlling the ultrasonic probe to emit ultrasonic signals ; Obtain the ultrasonic signal received by the ultrasonic probe and generate a measured image; compare the reference image with the measured image to determine the matching degree between the reference image and the measured image; control the mechanical arm to drive the ultrasonic probe to move based on the matching degree to change the pose of the ultrasonic probe , until the matching degree between the measured image and the reference image is higher than the preset value.
根据本申请实施例的第三个方面，提供一种计算机可读存储介质，其上存储有计算机程序，计算机程序被计算机运行时实现如本申请实施例的第二个方面所描述的超声装置的控制方法。According to a third aspect of the embodiment of the present application, there is provided a computer-readable storage medium, on which a computer program is stored, and when the computer program is run by a computer, the ultrasonic device as described in the second aspect of the embodiment of the present application is implemented. Control Method.
本实施例提供的超声装置、超声装置的控制方法和计算机可读存储介质能够自动地控制机械臂将超声探头移动到合适的位置来获取到期望的超声图像，而无需人工调整探头位置，使用更加简单方便，降低了操作难度，并减少了操作人员的工作量。The ultrasonic device, the control method of the ultrasonic device and the computer-readable storage medium provided in this embodiment can automatically control the mechanical arm to move the ultrasonic probe to a suitable position to obtain the desired ultrasonic image without manually adjusting the position of the probe. It is simple and convenient, reduces the difficulty of operation, and reduces the workload of operators.
附图说明Description of drawings
图1为根据本申请实施例的超声装置的示意图；FIG. 1 is a schematic diagram of an ultrasonic device according to an embodiment of the present application;
图2为根据本申请实施例的第一移动方式示意图；FIG. 2 is a schematic diagram of a first movement method according to an embodiment of the present application;
图3为根据本申请另一实施例的第一移动方式示意图；FIG. 3 is a schematic diagram of a first moving manner according to another embodiment of the present application;
图4为根据本申请实施例的第二移动方式示意图；FIG. 4 is a schematic diagram of a second moving manner according to an embodiment of the present application;
图5为根据本申请实施例的第三移动方式示意图；FIG. 5 is a schematic diagram of a third movement method according to an embodiment of the present application;
图6为根据本申请另一实施例的超声装置的示意图；6 is a schematic diagram of an ultrasonic device according to another embodiment of the present application;
图7为根据本申请再一实施例的超声装置的示意图。Fig. 7 is a schematic diagram of an ultrasonic device according to yet another embodiment of the present application.
具体实施方式Detailed ways
为使本发明的目的、技术方案和优点更加清楚，下面将结合本发明实施例的附图，对本发明的技术方案进行清楚、完整地描述。In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention.
本申请的实施例首先提供一种超声装置，参照图1，其包括机械臂10、超声探头20和一个或多个处理器30。Embodiments of the present application firstly provide an ultrasonic device, referring to FIG. 1 , which includes a
超声探头20用于发射和接收超声信号，其可以是本领域的相关技术中所提供的任何合适的超声探头，对此不作限制。The
超声探头20与机械臂10连接，机械臂10能够带动超声探头20进行移动。机械臂10可以是本领域相关技术中所提供的任何合适的机械臂，机械臂10可以被设置成能够带动超声探头20实现超声检查过程中任何需要完成的移动操作。作为示例地，机械臂10具有多个彼此连接的支臂，这些支臂之间可以通过轴承、滑轨等进行连接，以使得支臂彼此之间可以滑动、转动等，以带动所连接的超声探头20进行多自由度的移动。The
参照图1，在实际使用过程中，受测者1可以躺在检查床2(手术床)上，机械臂10的一端可以被固定在检查床2附近的任何合适的位置(例如检察床的床头、床沿，或者检查床附近的地面、台面等)，只需其带动超声探头20移动的范围能够覆盖需要检查的位置即可。超声探头20可以被固定在机械臂10的另一端。在一些实施例中，机械臂10的一端可以被固定在一个可移动的基座3上，使得超声装置可以根据实际使用需求被移动到任何合适的位置进行工作。Referring to Fig. 1, in actual use, the
一个或多个处理器30与机械臂10和超声探头20电连接以控制机械臂10和超声探头20。一个或多个处理器30可以被集成在终端设备上，该终端设备可以是例如电脑、平板电脑、手机等终端，或者其他任何能够执行相关功能的终端。该终端设备可以通过有线连接、无线连接等任何合适的连接方式与机械臂10和超声探头20电连接，以实现一个或多个处理器30与机械臂10和超声探头20的电连接。在一些其他的实施例中，一个或多个处理器30也可以集成在机械臂10或者超声探头20中，对此不作限制。一个或多个处理器30可以以合适的方式来与用户进行交互，例如，一个或多个处理器30可以被连接到合适的交互设备上，例如鼠标、键盘、触摸屏等。One or
在实际使用过程中，一个或多个处理器30可以获取用户输入的待测切面，此处的待测切面可以是用户需要检测的任何切面，例如，在进行心脏超声检查时，待测切面可以是四腔切面、剑下切面、主动脉短轴切面、胸骨上窝切面等。在一些情况下，可能需要对多个待测切面进行测试，可以采用下文中所描述的相关步骤来分别完成对每个待测切面的测试，在此不再赘述。In actual use, one or
在获取待测切面后，一个或多个处理器30可以获取待测切面的参考图像。此处的参考图像是指根据本领域中的相关操作标准对该待测切面进行检测时应当获取到的图像。待测切面的参考图像可以被预先存储到一个或多个处理器30中，或者被存储到与一个或多个处理器30连接的数据库中，当一个或多个处理器接收到用户输入的待测切面后，可以通过检索来获取到该待测切面的参考图像。After acquiring the slice to be measured, one or
参考图像的来源可以是多样化的，可以理解地，一些类型的待测切面的图像在不同患者之间的差异性较小，换言之，对不同患者的该待测切面进行检测时获取到的图像是较为接近的，例如股动静脉切面，对于这种类型的待测切面而言，可以使用大数据方式来生成待测切面的参考图像，并在对所有患者的该待测切面进行检查时均使用该图像作为参考图像。The source of the reference image can be diversified. It is understandable that the images of some types of slices to be tested have little difference among different patients. is relatively close, such as the femoral arteriovenous section, for this type of section to be tested, the method of big data can be used to generate the reference image of the section to be tested, and when the section to be tested is checked for all patients, the same Use this image as a reference image.
而另一些类型的待测切面的图像在不同患者之间的差异性可能较大，例如与心脏相关的一些切面，对于这种类型的待测切面而言，参考图像可以与特定的患者相对应，即，对于不同患者的该待测切面进行检查时使用不同的参考图像。例如，可以将既往对该患者的待测切面进行检测时获得的图像作为该患者的待测切面的参考图像。However, the images of other types of slices to be measured may vary greatly between different patients, such as some slices related to the heart. For this type of slices to be measured, the reference image can correspond to a specific patient , that is, different reference images are used when inspecting the section to be measured in different patients. For example, an image obtained when the section to be measured of the patient is previously detected may be used as a reference image of the section to be measured of the patient.
当超声装置被用于引导一些精细操作时，例如被用于引导介入手术、穿刺等操作时，对超声图像的要求更高，因此，对于参考图像的要求也就更高，此时，可以在进行术前检查时，由专业人员手持超声探头来获得待测切面的参考图像，并将参考图像存储到与一个或多个处理器30相关联的数据库中。When the ultrasonic device is used to guide some fine operations, for example, when it is used to guide interventional surgery, puncture and other operations, the requirements for ultrasonic images are higher, so the requirements for reference images are also higher. At this time, you can use During the preoperative examination, a professional holds an ultrasound probe to obtain a reference image of the section to be measured, and stores the reference image in a database associated with one or
本领域技术人员可以根据实际所需要检测的待测切面来具体确定该待测切面的参考图像的选择标准，在此不再赘述。Those skilled in the art can specifically determine the selection criteria of the reference image of the slice to be measured according to the slice to be measured that actually needs to be detected, and will not be repeated here.
接下来，一个或多个处理器30可以控制机械臂10将超声探头20移动到待测切面对应的体表标志点。该体表标志点是指本领域中手持超声探头对该待测切面进行检查前，在体表定位超声探头时所使用的标志点，每个待测切面均有对应的体表标志点，例如，四腔切面对应的体表标志点通常在心尖，即，左锁骨中线第5肋间，确定待测切面的体表标志点是本领域技术人员应当具备的一般技能，这些待测切面与体表标志点的对应关系可以被预先存储在与一个或多个处理器30关联的数据库中，一个或多个处理器30可以调用相关数据来确定体表标志点，在此不再赘述。Next, one or
一个或多个处理器30可以获取与体表标志点相关的定位信息，而后控制机械臂10将超声探头20移动到该体表标志点附近，并控制超声探头发射超声信号。在一些实施例中，可以借助相关的检测设备来完成体表标志点的定位信息的获取，例如借助激光定位装置等来实现体表标志点的定位。在一些实施例中，操作人员还可以预先将体表标志点的定位信息输入到一个或多个处理器中。本领域技术人员可以根据实际情况来进行选择，下文中的相关部分中也将会具体描述几种确定体表标志点的定位信息的方式，在此不再赘述。One or
接下来，一个或多个处理器30可以获取超声探头20接收到的超声信号并生成实测图像，而后比较参考图像和实测图像，以确定参考图像和实测图像的匹配度。此处的实测图像是指以超声探头20实时接收到的超声信号而生成的超声图像，实测图像与参考图像之间的匹配度表征了实测图像与参考图像之间的差异，实测图像与参考图像之间的匹配度越高，则实测图像越接近参考图像。Next, one or
一个或多个处理器30可以借助本领域中相关的图像比较分析方法来比较参考图像和实测图像之间的匹配度。作为示例地，可以采用神经网络算法提取实测图像中的特征点，并与参考图像中的特征点进行比较分析，以此来确定二者之间的匹配度。One or
在确定了匹配度后，一个或多个处理器30可以基于该匹配度控制机械臂10带动超声探头20移动，以改变超声探头20的位姿，直到实测图像和参考图像的匹配度高于预设值。After the matching degree is determined, one or
此处的位姿是指超声探头20的位置和姿态，可以理解地，上述步骤中仅把超声探头20移动到了体表标志点处，而要获取到接近参考图像的超声图像，还需要进一步的对超声探头的位置和姿态进行调整。The pose here refers to the position and posture of the
如上文中所描述的，匹配度表征了实测图像与参考图像之间的差异，该匹配度可以被用来确定具体应该如何移动超声探头20，例如，如果在移动后匹配度增加，则意味着该次移动所采用的方式是正确的，可以选择继续以该方式进行移动。如果移动过后匹配度下降，则意味着可能需要调整移动的方式。一个或多个处理器30可以迭代地执行上述确定匹配度的步骤和基于匹配度控制机械臂10带动超声探头20移动的步骤，直到所确定的匹配度高于预设值，这意味着超声探头20已经获取到了操作人员所期望获取的图像。As described above, the degree of matching characterizes the difference between the measured image and the reference image, and the degree of matching can be used to determine how to move the
此处的预设值可以由本领域技术人员根据实际需求来确定，例如，当超声图像被用于介入手术的引导时，或者被用于定位穿刺点时，可以将预定值设置成一个较高的值，以确保获取到的超声图像能够较好地指导医生的后续操作。当超声图像被用于对病人的病情发展进行诊断时，由于病情发展可能会导致待测切面的实际图像相较于参考图像发生改变，因此，可以适当地降低预设值，以保证超声装置能够获得满足预设值要求的超声图像。The preset value here can be determined by those skilled in the art according to the actual needs, for example, when the ultrasound image is used to guide the interventional operation, or when it is used to locate the puncture point, the preset value can be set to a higher value to ensure that the acquired ultrasound images can better guide the doctor's follow-up operations. When the ultrasound image is used to diagnose the patient's disease progression, the actual image of the section to be tested may change compared with the reference image due to the disease progression, so the preset value can be appropriately reduced to ensure that the ultrasound device can Ultrasound images that meet the requirements of preset values are obtained.
在实测图像与参考图像之间的匹配度高于预设值后，一个或多个处理器30可以将该实测图像发送到相应的显示装置上进行显示，医生可以根据该实测图像的指导来完成后续的操作。或者，一个或多个处理器30可以将该实测图像上传到诊疗系统，由医生根据该实测图像来进行诊断等，本领域技术人员可以根据实际需求进行选择，对此不作限制。After the matching degree between the measured image and the reference image is higher than the preset value, one or
本申请实施例提供的超声装置能够自动地获取到用户所指定的待测切面的超声图像，而无需人工调整探头的位置，降低了的操作难度，并减少了操作人员的工作量。The ultrasound device provided by the embodiment of the present application can automatically acquire the ultrasound image of the section to be measured specified by the user without manually adjusting the position of the probe, which reduces the difficulty of operation and reduces the workload of the operator.
在一些实施例中，一个或多个处理器30在基于匹配度控制机械臂10带动超声探头20移动时，可以基于匹配度确定机械臂带动超声探头移动的范围，其中，匹配度越高，则移动的范围越小。In some embodiments, when the one or
本实施例中移动范围与匹配度呈反比，例如，当匹配度为80时，移动的范围可能为20，而匹配度为20时，移动的范围可能为80，这样的调整方式能够提高超声探头20的位姿调整效率，并且还能够避免过度调整。In this embodiment, the moving range is inversely proportional to the matching degree. For example, when the matching degree is 80, the moving range may be 20, and when the matching degree is 20, the moving range may be 80. The pose adjustment efficiency is high, and it is also able to avoid over-adjustment.
在一些实施例中，一个或多个处理器30在基于匹配度控制机械臂10带动超声探头20移动时，可以基于匹配度在与待测切面对应的预设移动范围内确定机械臂10带动超声探头20移动的范围。In some embodiments, when the one or
可以理解地，尽管无法直接确定超声探头20需要调整到的位姿，但是可以确定的是超声探头20在一些位姿下不可能获得期望的超声图像，例如，当待测切面为四腔切面时，超声探头20显然需要朝向心脏腔室所在的方向才能够获取到四腔切面，因此，调整超声探头20的位姿时应当保证超声探头20发生的超声信号朝向心脏方向，而不能够背离心脏方向。Understandably, although it is impossible to directly determine the pose to which the
基于此，本实施例中可以为每个待测切面预设移动范围，该预设移动范围可以基于待测切面的具体性质以及待测切面对应的体表标志点，结合本领域技术人员的实际操作经验以及本领域中的相关操作指南来确定。Based on this, in this embodiment, a movement range can be preset for each section to be measured. The preset movement range can be based on the specific properties of the section to be measured and the body surface marker points corresponding to the section to be measured, combined with the actual conditions of those skilled in the art. Operating experience and relevant operating guidelines in the field are determined.
在基于匹配度确定移动范围时，应当在该预设移动范围内来确定具体的移动范围，避免出现无用的调整而浪费时间，例如，假设预设移动范围为1-9，超声探头20当前位姿为5，当匹配度为80时，确定移动范围为4-6，当匹配度为20，确定移动范围为2-8。When determining the movement range based on the matching degree, the specific movement range should be determined within the preset movement range, so as to avoid unnecessary adjustment and waste time. For example, assuming that the preset movement range is 1-9, the current position of the
在一些实施例中，一个或多个处理器30在控制机械臂10将超声探头20移动到待测切面对应的体表标志点后，可以进一步地控制机械臂10将超声探头20调整到与待测切面对应的预设姿态。如上文所描述地，尽管不能精准地确定超声探头20需要调整到的位置和姿态，但是本领域技术人员仍可以根据专业知识来对超声探头20需要调整到的位置和姿态进行预测，上述体表标志点实际上就是对超声探头20需要调整到的位置的预测，本领域技术人员还可以进一步的对姿态进行预测，预测结果可以作为与该待测切面对应的预设姿态，本实施例中，将超声探头20移动到体表标志点后，进一步的将该超声探头20调整到预设姿态，以该位姿为基础进行后续的调整有助于进一步的提高调整的效率。In some embodiments, after the one or
在一些实施例中，一个或多个处理器30在基于匹配度控制机械臂10带动超声探头20移动时，可以控制机械臂带动超声探头以第一移动方式、第二移动方式和第三移动方式中的一种移动。In some embodiments, when one or
第一移动方式使超声探头20沿体表旋转，此处的沿体表旋转可以泛指超声探头20沿着体表进行的非线性的移动。图2示出了根据本申请实施例的第一移动方式的示意图，图中标记了超声探头20当前的位置，以及后续的运动路径(图中的弧线)，这一实施例中，超声探头20以当前位置为起点沿着体表上经过该位置的一条弧线运动。图3示出了根据本申请另一实施例的第一移动方式的示意图，图中同样标记了超声探头20当前的位置，以及后续的运动路径(图中的弧线)，本实施例中，超声探头20沿着当前位置一侧的一条或多条弧线运动，相较于上一实施例而言，本实施例中的超声探头20移动范围更大。The first movement mode makes the
图4示出了根据本申请实施例的第二移动方式的示意图，图中同样标记了超声探头20当前的位置，以及后续的运动路径(图中的弧线)，第二移动方式使超声探头20的轴线与体表的夹角改变，此处的轴线是指与超声探头20的超声信号发射方向平行的轴线。Fig. 4 has shown the schematic diagram of the second moving mode according to the embodiment of the present application, also mark the current position of
图5示出了根据本申请实施例的第三移动方式的示意图，图中同样标记了超声探头20当前的位置，以及后续的运动路径(图中的直线)，第三移动方式使超声探头20沿体表平移。Fig. 5 has shown the schematic diagram of the 3rd moving mode according to the embodiment of the present application, also mark the current position of
需要说明的时，移动方式并不限于上面所指出的三种，本领域技术人员在人工操作超声探头移动时所应用到的任何移动方式均可以被应用在此处。It should be noted that the moving modes are not limited to the three mentioned above, and any moving mode applied by those skilled in the art when manually operating the ultrasonic probe to move can be applied here.
在一些实施例中，可以预先设置多个匹配参数，而后分别获取每个匹配参数的匹配度，这些匹配参数可以与上述三种移动方式相对应。例如，可以将指示实测图像中某一组织与参考图像中对应组织之间的朝向差异的参数与第一移动方式对应，当该参数的匹配度较低时，则以第一移动方式进行调整。又例如，可以将指示实测图像中某一组织与对应组织之间的大小差异的参数与第二移动方式对应，当该参数的匹配度较低时，大小匹配度较低时(例如实测图像中四腔整体大小明显小于参考图像)，则可能需要以第二移动方式进行调整，以改变切面角度。本领域技术人员可以参考人工调整时所应用到的相关专业知识来合理的确定相关的匹配参数，并将其与特定的移动方式相对应。In some embodiments, a plurality of matching parameters may be set in advance, and then the matching degree of each matching parameter may be acquired respectively, and these matching parameters may correspond to the above three moving modes. For example, a parameter indicating an orientation difference between a certain tissue in the measured image and the corresponding tissue in the reference image may be associated with the first movement manner, and when the matching degree of the parameter is low, the first movement manner is used for adjustment. For another example, the parameter indicating the size difference between a certain tissue and the corresponding tissue in the measured image may be corresponding to the second movement mode. When the matching degree of the parameter is low, the size matching degree is low (for example, in the measured image If the overall size of the four chambers is significantly smaller than the reference image), it may need to be adjusted with a second movement to change the angle of view. A person skilled in the art can reasonably determine relevant matching parameters by referring to relevant professional knowledge applied during manual adjustment, and correspond them to a specific moving manner.
在一些实施例中，可以在控制机械臂10带动超声探头20以第一移动方式、第二移动方式和第三移动方式中的一种移动时，获取匹配度的变化情况，以确定移动过程中的最高匹配度，而后，以最高匹配度对应的超声探头20的位姿为起点，基于最高匹配度控制机械臂10带动超声探头20移动。In some embodiments, when the
本实施例中使用迭代的方式来调整超声探头20的位姿，在每一次迭代的过程中，以上一次调整时匹配度最高的位姿为起点进行调整，从而，优化了调整的逻辑，提高了调整效率。In this embodiment, an iterative method is used to adjust the pose of the
在一些实施例中，一个或多个处理器30在基于最高匹配度控制机械臂10带动超声探头20时，可以基于最高匹配度重新确定控制机械臂10带动超声探头20移动的范围。即，在每一次迭代的过程中都重新确定移动范围，基于最高匹配度确定移动范围的具体方法可以参照基于匹配度确定移动范围的具体方法，在此不再赘述。In some embodiments, when the one or
在一些实施例中，一个或多个处理器30在基于最高匹配度控制机械臂10带动超声探头20移动时，可以基于最高匹配度控制机械臂10带动超声探头20以第一移动方式、第二移动方式、第三移动方式中的另一种移动。即，在每次迭代地调整时，使用不同的移动方式来调整位姿，以进一步的增加调整的效率。在一些实施例中，可以以预定的顺序来进行上述三种方式的移动，例如第一次迭代时以第一移动方式进行移动，第二次迭代时以第二移动方式进行移动，第三次迭代时以第三移动方式进行移动。In some embodiments, when the one or
在一些实施例中，如上文中所描述的，参考图像可以与特定的患者相关联，为此，一个或多个处理器30在获取待测切面的参考图像时，可以先获取用户输入的患者信息，而后检索与患者信息对应的待测切面的参考图像。In some embodiments, as described above, the reference image can be associated with a specific patient. To this end, one or
在一些实施例中，一个或多个处理器30还用于在实测图像和参考图像的匹配度高于预设值时，记录超声探头20的位姿信息，并将位姿信息与患者信息、待测切面关联并存储。本实施例中，在获取到符合期望的实测图像后，将超声探头20的位姿信息与患者信息、待测切面相关联并进行存储，从而，在需要再次获取对该患者的这一待测切面进行超声检查时，可以直接调用所存储的位姿信息来控制机械臂10带动超声探头20进行移动，而无需再次通过上文中所描述的方式来进行移动，省去了大量的相关计算步骤，提高了效率。In some embodiments, one or
在上述实施例中，一个或多个处理器30在获取患者信息和待测切面后，可以先检索与患者信息和待测切面关联的位姿信息，若检索到位姿信息，则可以基于位姿信息控制机械臂10带动超声探头20进行移动。若未检索到位姿信息，则使用上文中所描述的方式来控制机械臂10带动超声探头20进行移动。In the above embodiment, after one or
如上文中所描述地，在进行介入手术时，可能需要在多个切面之间进行切换，此时，可以首先使用上文中所描述的方式，将上述多个切面中的每一个作为待测切面来获取对应的位姿参数并存储，而后，在实际操作过程中，只需要输入期望的切面，一个或多个处理器便可以直接调用所存储的位姿参数来调整超声探头20的位置，极大地提高了效率，节省了介入手术时调整超声探头来切换不同切面的时间，并降低了操作难度，使得施术者无需另一专业的超声操作人员的辅助也能够完成介入手术。As described above, during an interventional operation, it may be necessary to switch between multiple view planes. At this time, the method described above can be used first to use each of the above multiple view planes as the slice plane to be measured. The corresponding pose parameters are acquired and stored, and then, in the actual operation process, one or more processors can directly call the stored pose parameters to adjust the position of the
在一些实施例中，参照图6和图7，超声装置还包括定位件40，其用于提供与待测切面对应的体表标志点的位置信息。一个或多个处理器30在控制机械臂10将超声探头20移动到待测切面对应的体表标志点时，可以基于定位件40提供的位置信息控制机械臂10将超声探头20移动到待测切面对应的体表标志点。In some embodiments, referring to FIG. 6 and FIG. 7 , the ultrasonic device further includes a positioning
在一些实施例中，参照图6，定位件40可以是设置在检查床上方的激光定位装置，其可以通过发射激光来对待测者的身体构造进行检查，进而获取体表标志点的定位信息。In some embodiments, referring to FIG. 6 , the positioning
在一些的实施例中，参照图7，定位件40可以是能够发送自身位置信息的装置，相关操作人员可以将其预先放置在体表标志点所在的位置。In some embodiments, referring to FIG. 7 , the
在一些其他的实施例中，可以不设置定位件40，而可以在机械臂10或超声探头20上设置摄像头，一个或多个处理器30可以根据摄像头获取到的图像来识别体表标志点所在的位置，进而控制机械臂10带动超声探头20进行移动。本实施例中，可以预先在体表标志点处设置易于图像识别的标记，例如采用黑色记号笔进行标记，以提高一个或多个处理器识别体表标志点的效率。In some other embodiments, the positioning
本申请的实施例还提供一种超声装置的控制方法，超声装置包括机械臂和超声探头，超声探头用于发射和接收超声信号，超声探头与机械臂连接，机械臂能够带动超声探头进行移动，方法具体包括：Embodiments of the present application also provide a method for controlling an ultrasonic device. The ultrasonic device includes a mechanical arm and an ultrasonic probe, the ultrasonic probe is used to transmit and receive ultrasonic signals, the ultrasonic probe is connected to the mechanical arm, and the mechanical arm can drive the ultrasonic probe to move. The methods specifically include:
步骤S102：获取用户输入的待测切面。Step S102: Obtain the section to be measured input by the user.
步骤S104：获取待测切面的参考图像。Step S104: Obtain a reference image of the section to be measured.
步骤S106：控制机械臂将超声探头移动到待测切面对应的体表标志点并控制所述超声探头发射超声信号。Step S106: Control the mechanical arm to move the ultrasound probe to the body surface marker point corresponding to the section to be measured and control the ultrasound probe to emit ultrasound signals.
步骤S108：获取超声探头接收到的超声信号并生成实测图像。Step S108: Acquiring the ultrasonic signal received by the ultrasonic probe and generating a measured image.
步骤S110：比较参考图像和实测图像，以确定参考图像和实测图像的匹配度。Step S110: Compare the reference image and the measured image to determine the matching degree between the reference image and the measured image.
步骤S112：基于匹配度控制机械臂带动超声探头移动，以改变超声探头的位姿，直到实测图像和参考图像的匹配度高于预设值。Step S112: Based on the matching degree, control the mechanical arm to drive the ultrasonic probe to move, so as to change the pose of the ultrasonic probe until the matching degree between the measured image and the reference image is higher than a preset value.
在一些实施例中，在基于匹配度控制机械臂带动超声探头移动时，基于匹配度确定机械臂带动超声探头移动的范围，其中，匹配度越高，则移动的范围越小。In some embodiments, when controlling the movement of the ultrasonic probe driven by the mechanical arm based on the matching degree, the moving range of the ultrasonic probe driven by the mechanical arm is determined based on the matching degree, wherein the higher the matching degree, the smaller the moving range.
在一些实施例中，基于匹配度确定机械臂带动超声探头移动的范围包括：基于匹配度，在与待测切面对应的预设移动范围内，确定机械臂带动超声探头移动的范围。In some embodiments, determining the moving range of the ultrasonic probe driven by the mechanical arm based on the matching degree includes: determining the moving range of the ultrasonic probe driven by the mechanical arm within a preset moving range corresponding to the section to be measured based on the matching degree.
在一些实施例中，基于匹配度控制机械臂带动超声探头移动包括：控制机械臂带动超声探头以第一移动方式、第二移动方式和第三移动方式中的一种移动，第一移动方式使超声探头沿体表旋转，第二移动方式使超声探头的轴线与体表的夹角改变，第三移动方式使超声探头沿体表平移。In some embodiments, controlling the mechanical arm to drive the ultrasonic probe to move based on the matching degree includes: controlling the mechanical arm to drive the ultrasonic probe to move in one of a first movement mode, a second movement mode and a third movement mode, the first movement mode makes The ultrasound probe rotates along the body surface, the second movement mode changes the angle between the axis of the ultrasound probe and the body surface, and the third movement mode causes the ultrasound probe to translate along the body surface.
在一些实施例中，基于匹配度控制机械臂带动超声探头移动还包括：在控制机械臂带动超声探头以第一移动方式、第二移动方式和第三移动方式中的一种移动时，获取匹配度的变化情况；确定移动过程中的最高匹配度；以最高匹配度对应的超声探头的位姿为起点，基于最高匹配度控制机械臂带动超声探头移动。In some embodiments, controlling the mechanical arm to drive the ultrasonic probe to move based on the matching degree further includes: when controlling the mechanical arm to drive the ultrasonic probe to move in one of the first movement mode, the second movement mode and the third movement mode, obtaining the matching Determine the highest matching degree during the movement process; start with the pose of the ultrasonic probe corresponding to the highest matching degree, and control the mechanical arm to drive the ultrasonic probe to move based on the highest matching degree.
在一些实施例中，基于最高匹配度控制机械臂带动超声探头移动时，基于最高匹配度重新确定控制机械臂带动超声探头移动的范围。In some embodiments, when the robot arm is controlled to drive the ultrasound probe to move based on the highest matching degree, the range in which the robot arm is controlled to drive the ultrasound probe to move is re-determined based on the highest matching degree.
在一些实施例中，基于最高匹配度控制机械臂带动超声探头移动包括：基于最高匹配度控制机械臂带动超声探头以第一移动方式、第二移动方式、第三移动方式中的另一种移动。In some embodiments, controlling the mechanical arm to drive the ultrasonic probe to move based on the highest matching degree includes: controlling the mechanical arm to drive the ultrasonic probe to move in another of the first moving manner, the second moving manner, and the third moving manner based on the highest matching degree .
在一些实施例中，方法还包括：获取用户输入的患者信息；检索与患者信息对应的待测切面的参考图像。In some embodiments, the method further includes: acquiring patient information input by the user; and retrieving a reference image of a section to be measured corresponding to the patient information.
在一些实施例中，还包括：在实测图像和参考图像的匹配度高于预设值时，记录超声探头的位姿信息；将位姿信息与患者信息、待测切面关联并存储。In some embodiments, it also includes: when the matching degree between the measured image and the reference image is higher than the preset value, recording the pose information of the ultrasound probe; associating and storing the pose information with the patient information and the section to be measured.
在一些实施例中，获取患者信息和待测切面后，检索与患者信息和待测切面关联的位姿信息；若检索到位姿信息，则基于位姿信息控制机械臂带动超声探头进行移动。In some embodiments, after the patient information and the slice to be measured are obtained, the pose information associated with the patient information and the slice to be measured is retrieved; if the pose information is retrieved, the robotic arm is controlled to drive the ultrasonic probe to move based on the pose information.
在一些实施例中，超声装置还包括定位件，用于提供与待测切面对应的体表标志点的位置信息，方法还包括：基于定位件提供的位置信息控制机械臂将超声探头移动到待测切面对应的体表标志点。In some embodiments, the ultrasonic device further includes a locator for providing position information of body surface marker points corresponding to the section to be measured, and the method further includes: controlling the mechanical arm to move the ultrasonic probe to the position to be measured based on the position information provided by the locator. Body surface marker points corresponding to the cut plane.
在一些实施例中，方法还包括：在控制机械臂将超声探头移动到待测切面对应的体表标志点后，控制机械臂将超声探头调整到与待测切面对应的预设姿态。In some embodiments, the method further includes: after controlling the mechanical arm to move the ultrasonic probe to the body surface marker point corresponding to the slice to be measured, controlling the robotic arm to adjust the ultrasound probe to a preset posture corresponding to the slice to be measured.
以上对本申请实施例提供的超声装置的控制方法进行了描述，一些具体的技术细节可以参照上文中超声装置的相关部分处的描述，在此不再赘述。The control method of the ultrasonic device provided by the embodiment of the present application has been described above. For some specific technical details, reference may be made to the description of the relevant part of the ultrasonic device above, which will not be repeated here.
本申请的实施例还提供一种计算机可读存储介质，其上存储有计算机程序，计算机程序被计算机运行时实现如上任一实施例所描述的方法。Embodiments of the present application also provide a computer-readable storage medium, on which a computer program is stored, and when the computer program is run by a computer, the method described in any one of the above embodiments is implemented.
计算机可读存储介质的具体实现方式可以参照前述内容，在此不再赘述。For the specific implementation manner of the computer-readable storage medium, reference may be made to the foregoing content, and details are not repeated here.
本领域技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成的，计算机程序可存储于一非易失性计算机可读取存储介质中，该计算机程序在执行时，可包括如上述各方法的实施例的流程。Those skilled in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented through computer programs to instruct related hardware. The computer programs can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it may include the procedures of the embodiments of the above-mentioned methods.
其中，本发明所提供的各实施例中所使用的对存储器、存储、数据库或其它介质的任何引用，均可包括非易失性和/或易失性存储器。非易失性存储器可包括只读存储器(ROM)、可编程ROM(PROM)、电可编程ROM(EPROM)、电可擦除可编程ROM(EEPROM)或闪存。易失性存储器可包括随机存取存储器(RAM)或者外部高速缓冲存储器。作为说明而非局限，RAM以多种形式可得，诸如静态RAM(SRAM)、动态RAM(DRAM)、同步DRAM(SDRAM)、双数据率SDRAM(DDRSDRAM)、增强型SDRAM(ESDRAM)、同步链路(Synchlink)DRAM(SLDRAM)、存储器总线(Rambus)直接RAM(RDRAM)、直接存储器总线动态RAM(DRDRAM)、以及存储器总线动态RAM(RDRAM)等。Wherein, any reference to memory, storage, database or other media used in the various embodiments provided by the present invention may include non-volatile and/or volatile memory. Nonvolatile memory can include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Chain Synchlink DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.
以上实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。以上实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be It is considered to be within the range described in this specification. The above examples only express several implementation modes of the present application, and the description thereof is relatively specific and detailed, but should not be construed as limiting the scope of the patent for the invention. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the scope of protection of the patent application should be based on the appended claims.
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