Detection apparatus of ultrasonic probe space position and three-dimensional attitude and method thereof

Abstract

A device and method for detecting the spatial position and the three-dimensional attitude of an ultrasonic probe. The device comprises an ultrasonic coupling pad (102) in which reflection particles (103) are embedded and an additional probe group (104) which is composed of a plurality of high-frequency positioning ultrasonic transducers. The ultrasonic coupling pad (102) in which reflection particles (103) are embedded comprises an ultrasonic coupling pad base and reflection particles (103) which are embedded in the ultrasonic coupling pad base. The detection method comprises: using the additional probe group (104) to transmit a high-frequency positioning ultrasonic wave to the ultrasonic coupling pad (102) and receive an echo wave reflected by the reflection particles (103) of which the accurate spatial position is known in the ultrasonic coupling pad (102); according to the round-trip propagation time of the high-frequency positioning ultrasonic wave, calculating the spatial position of the additional probe group (104), and then determining the spatial position of an ultrasonic probe (105); and determining the three-dimensional attitude of the ultrasonic probe (105) by combining with an inclination angle of the ultrasonic probe (105). The present invention has a simple structure, strong interference immunity, accurate positioning and a simple and easy algorithm, is easy to mate with an existing ultrasonic detection device, and has very strong universality.

Description

technical field [0001] The invention relates to ultrasonic detection technology, in particular to a detection device and method for the spatial position and three-dimensional attitude of an ultrasonic probe. Background technique [0002] In the past 20 years, with the advancement of science and technology, especially the development of computer technology and digital signal processing technology, medical ultrasound imaging technology has made great progress in probe development, signal processing and clinical application software, which has greatly improved the quality of ultrasound imaging. The scope of application is also getting wider and wider. Ultrasound has strong penetrating power, and has the advantages of no damage to the detected tissue and no radiation. Therefore, it has a wide range of applications in medical, industrial, energy, archaeological, etc., especially in the medical field. Clinical diagnosis of breast tumors, intracranial tumors, etc. has an irreplace...

AI Technical Summary

Problems solved by technology

Regardless of whether it is a non-free-arm probe or a free-arm probe, there are the following problems in experimental research and clinical application: first, the equipment is complex, including two systems of two-dimensional ultrasound imaging and three-dimensional reconstruction; second, the versatility is not strong, and a certain This kind of equipment can only check a specific part; the third is that the equipment is susceptible to interference and has high requirements for the use environment

[0005] (1) As far as the non-free-arm volume probe is concerned, the mechanical structure is complicated and the equipment is heavy; various probes are not easy to connect, and the versatility is poor; the equipment depends on the experience and professional level of the operator, which is not convenient for popularization and promotion

[0006] (2) As far as the free-arm probe is concerned, a set of complex probe sensing and positioning mechanisms is first required, and the equipment is huge; the system is easily affected by external acoustic, electromagnetic or other interference and the image quality is affected, resulting in its requirements for the use environment. high

[0007] (3) Whether it is a free-arm system or a non-free-arm system, two complex systems, two-dimensional imaging, probe position and three-dimensional attitude detection, need to work at the same time to realize three-dimensional data acquisition, which is technically difficult and complex in equipment

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