Breast ultrasonic scanning method and system based on binocular vision and robot

Abstract

The invention relates to the field of breast ultrasonic scanning equipment, and discloses a breast ultrasonic scanning method and system based on binocular vision and a robot, and the method comprises the following steps: 1) obtaining image information; 2) performing three-dimensional point cloud reconstruction on the acquired mammary gland image information, and optimizing mammary gland point cloud data; 3) extracting the ultrasonic scanning path, and optimizing the obtained scanning path; 4) completing breast ultrasonic scanning by the robot according to the obtained ultrasonic scanning path. According to the mammary gland ultrasonic scanning method and system based on the binocular vision and the robot, the ultrasonic probe is controlled by the binocular vision technology and the robot to conduct scanning, mammary gland ultrasonic scanning operation can be accurately and efficiently completed, and the workload of doctors is relieved.

Description

technical field [0001] The invention relates to the field of breast ultrasound scanning equipment, in particular to a breast ultrasound scanning method and system based on binoculars and a robot. Background technique [0002] Breast cancer is one of the most common cancers, and its incidence is increasing year by year and tends to be younger. Early detection and timely treatment can effectively reduce the mortality of breast cancer patients and improve the quality of life of cancer patients. Ultrasound scanning of breast cancer is the most common method for detecting breast cancer. Traditional breast ultrasound scanning mainly relies on doctors to manually check various parts of the patient. However, due to the shortage of doctor resources and lack of operating experience of doctors, in the face of the increasing number of patients, the efficiency of surgery and the accuracy of test results cannot be guaranteed. [0003] In view of the above problems, the prior art propose...

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Problems solved by technology

However, due to the shortage of doctor resources and lack of operating experience of doctors, in the face of the increasing number of patients, the efficiency of surgery and the accuracy of test results cannot be guaranteed.

[0003] In view of the above problems, the prior art has proposed a traditional mechanical device-assisted ultrasonic scanning method, but the intelligence and automation of this scanning method are insufficient, so the clinical practicability is poor

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