Computerized Breast Scanning Automatic Mechanical Positioning System

Abstract

The invention discloses an automatic mechanical positioning system for computer mammary gland scanning, wherein a rotation angle encoder is arranged between every two adjacent mechanical arms for measuring the spatial relative rotation angle between the two mechanical arms, and sent to the processor; the manipulator probe is connected with one of the ends of multiple robotic arms, used to scan the breast in different spatial positions, and transmit the scanned image to the processor; the processor is used to record the manual calibration left / right AP position and the initial position of the nipple image, and according to each different spatial position of the manipulator probe, the corresponding spatial relative rotation angle of each robotic arm, determine the image position scanned at different spatial positions and the displacement of the nipple in the image . The invention can accurately and efficiently determine the image position and nipple image displacement information in the scanning image obtained by the ultrasonic scanning probe during the moving scanning process, and has simple structure and low manufacturing cost.

Description

technical field [0001] The invention relates to the field of medical instruments, in particular to the technical field of ultrasonic scanning systems. Background technique [0002] With the advancement of medical and related technologies, ultrasonic scanning systems are more and more widely used in the medical field, especially in breast health and other fields. At present, when an automatic breast ultrasound scanning system is used to scan a breast, a three-dimensional image of one automatic scan can cover a part of the breast. In diagnosis or screening, in order to cover the entire breast, the operator usually needs to place the full-volume manipulator probe at three locations on the breast to obtain three 3D images to cover the entire breast area. These three positions are often referred to simply as "AP", "MED" and "LAT" (see figure 1 ). [0003] The three-dimensional image obtained by scanning the breast with the automatic breast ultrasound scanning system will also ...

AI Technical Summary

Problems solved by technology

Currently, neither academia nor industry has a system for automatically marking the position of the full fusion ultrasound scan and the location of the nipple

[0004] On the other hand, on the tracking marker module, the traditional electromagnetic-based tracking technology has high cost and low accuracy

However, the existing video-based tracking technology often has poor tracking or detection effects due to its inability to adapt to different light and complex targets.

[0005] Therefore, in general, in the current breast ultrasound scanning system, it is still impossible to accurately and efficiently determine the displacement of the nipple in the scanning image obtained by scanning the moving probe, that is, the nipple image. displacement

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