Virtual ultrasound probe tracking method for remote manipulation

Abstract

The invention discloses a virtual ultrasonic probe motion tracking method for remote control. The method comprises the following steps of: using an image tracking algorithm based on a depth camera tocapture marking points of a remote virtual ultrasonic probe during translation and rotation in real time in combination with a color image and depth information of a depth camera; forming sequence data by recording position coordinates and direction information of a marking point plane normal vector in real time, matching the sequence data with a predefined motion mode through a deep learning model based on time series data to achieve motion control. The method provided by the invention can realize remote control of ultrasonic scanning, and has great prospect and application value in the fields of telemedicine and the like.

Description

technical field [0001] The invention relates to the technical field of ultrasonic remote scanning, in particular to a motion tracking method of a virtual ultrasonic probe for remote manipulation. Background technique [0002] Compared with radiological examination techniques such as CT and MRI, ultrasonography has the advantages of low cost, non-invasive, and radiation-free, and is the best choice for preliminary examination. [0003] At present, ultrasound scanning diagnosis has been widely used, but the quality of ultrasound images is very dependent on the operator's skill level. For the same lesion, different doctors have different techniques and experience, and may get different diagnostic results. In remote areas, the resources of skilled physicians are very scarce, which greatly restricts the development of ultrasonography technology. [0004] Traditional ultrasound scans require doctors to operate on the patient's body with an ultrasound probe in hand, which means th...

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Problems solved by technology

[0005]There are two major deficiencies in the existing remote control ultrasonic scanning technology: first, the path of the robot arm to control the movement of the probe is pre-defined according to the visual image, and it cannot be based on the scanned part According to the actual situation, the position and direction of the probe can be adjusted in real time, and it is impossible to simulate the scanning technique of the doctor; second, when the robot arm moves according to the path, it needs to obtain the motion parameters of the robot arm through coordinate system registration, dynamic solution, and kinematic solution. Involves a large number of complex nonlinear calculations and is difficult to solve

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