Method for combining B ultrasonic record and human body structure model

Abstract

The invention relates to a method and a system for combining B-ultrasonic records and a human body structure model, and aims to provide visual and accurate diagnosis support for doctors through fusion of a high-precision human body structure model and real-time B-ultrasonic data. The method comprises the steps of human body structure model acquisition and preparation, B ultrasonic data acquisition and preliminary matching, real-time matching and data fusion, step-by-step filling and model updating, model checking and dynamic data analysis, result storage and subsequent application and the like. The system comprises corresponding modules, such as a human body structure model acquisition and preparation module, a B ultrasonic data acquisition and preliminary matching module and the like, and the functions of automatic operation of the mechanical arm, abnormal data identification and the like are supported. According to the invention, a doctor can observe the B ultrasonic image information of the target part in real time, dynamically analyze and evaluate the change trend of lesions, so that the clinical decision is optimized, and the diagnosis and treatment efficiency and accuracy are improved.

Description

Technical Field

[0001] The technical field involved in this patent specification is the combined application of medical image processing and three-dimensional modeling technology, specifically focusing on methods and systems that integrate B-ultrasound records with high-precision human body structure models to optimize medical diagnosis, treatment and disease monitoring processes. Background Art

[0002] In the field of modern medical imaging diagnosis, B-ultrasound (ultrasound imaging) is a non-invasive and real-time imaging method that is widely used to examine multiple parts of the body, such as the abdomen, heart, and blood vessels. However, traditional B-ultrasound examinations have the following limitations:

[0003] Limitations of 2D images:

[0004] Traditional B-ultrasound provides two-dimensional cross-sectional images, and doctors need to rely on experience and imagination to construct three-dimensional structures in their minds, which poses challenges to the understanding of complex anatomical structures and the accurate location of lesions.

[0005] Subjective nature of test results:

[0006] The results of B-ultrasound examinations largely depend on the experience and technical level of the operating physician. There may be differences in interpretation between different physicians, affecting the accuracy and consistency of the diagnosis.

[0007] Lack of dynamic analysis support:

[0008] Traditional B-ultrasound systems can often only provide static images of a single examination, making it difficult to dynamically track and analyze the development of lesions, limiting doctors' ability to assess disease progression and treatment effectiveness.

[0009] Disconnect from the human body structure model:

[0010] Ultrasound data is usually independent of the human body structure model. When doctors interpret ultrasound images, they cannot intuitively combine the examination results with the patient's specific anatomical structure, which affects the accuracy of diagnosis and the personalization of treatment plans.

[0011] To address these limitations, the present invention proposes a method and system that combines B-ultrasound records with a human anatomy model. By integrating a high-precision human anatomy model with real-time B-ultrasound data, the system aims to provide physicians with more intuitive, accurate, and dynamic imaging diagnostic support. This method and system not only improves the accuracy and efficiency of B-ultrasound examinations but also provides strong technical support for early diagnosis, treatment evaluation, and ongoing care. Summary of the Invention

[0012] The present invention relates to a method and system that combines B-ultrasound records with a human body structure model, aiming to provide doctors with intuitive and accurate diagnostic support through the fusion of a high-precision human body structure model and real-time B-ultrasound data. The method includes the steps of acquiring and preparing a human body structure model, collecting and preliminarily matching B-ultrasound data, real-time matching and data fusion, gradual filling and model updating, model viewing and dynamic data analysis, as well as result preservation and subsequent application. The system includes corresponding modules, such as a human body structure model acquisition and preparation module, a B-ultrasound data collection and preliminarily matching module, etc., and supports functions such as automated operation of a robotic arm and abnormal data identification. Through the present invention, doctors can observe B-ultrasound image information of the target area in real time, conduct dynamic analysis, and evaluate the trend of lesion changes, thereby optimizing clinical decision-making and improving the efficiency and accuracy of diagnosis and treatment.

[0013] A method for combining B-ultrasound records with a human body structure model, characterized by comprising the following steps:

[0014] a) Acquisition and preparation of human body structure model:

[0015] Retrieve a high-precision human body structure model of the target individual from a hospital server or a national medical server;

[0016] If no previous model exists, a new high-precision human body structure model will be constructed using 3D modeling technology based on the target individual's basic information and medical imaging data;

[0017] Predetermine the target site or area that needs to be examined by B-ultrasound in the model;

[0018] b) Ultrasound data collection and preliminary matching:

[0019] Using ultrasonic reflection imaging technology, B-ultrasound data of the target area is collected in real time to ensure data clarity and accuracy. Medical image processing software or tools are used to preliminarily match the real-time collected B-ultrasound data with the corresponding positions in the human body structure model, and operations such as image scaling, rotation, and translation are used to achieve rough alignment in space.

[0020] c) Real-time matching and data fusion:

[0021] Based on the preliminary matching, advanced image registration technology is used to further optimize the matching results by calculating the similarity or difference between the B-ultrasound data and the model, ensuring that every detail in the B-ultrasound data accurately matches the actual human body structure.

[0022] Gradually integrate the optimized and matched B-ultrasound data into the human body structure model, and observe the fusion effect in real time through visualization tools or software to ensure that the data is displayed in the accurate position in the model;

[0023] d) Gradual filling and model updating:

[0024] As the B-ultrasound examination progresses, the newly collected B-ultrasound data are continuously filled into the human body structure model, and the data filling of the entire target area is gradually completed by layering or dividing the area.

[0025] Based on the results of B-ultrasound examination, the model is updated and optimized as necessary, and the structural details in the model are adjusted to ensure that the model is highly consistent with the real human anatomy;

[0026] e) Model viewing and dynamic data analysis:

[0027] Provides the function of viewing the filled B-ultrasound data in real time in the personal structure diagram, so that users can understand the B-ultrasound image information of the target part at any time through the intuitive structure diagram;

[0028] It allows users to dynamically analyze the filled B-ultrasound data. By comparing B-ultrasound data at different time points or different examination times, the changing trend of lesions can be observed, providing strong support for clinical decision-making.

[0029] f) Result storage and subsequent application:

[0030] Save the human body structure model filled with B-ultrasound data as a whole or layered file for easy subsequent viewing, analysis and quick retrieval;

[0031] During subsequent patient visits, the model can be quickly queried and retrieved through the retrieval system, and updated and optimized in combination with new clinical information and imaging data, providing strong support for the patient's ongoing diagnosis and treatment.

[0032] Furthermore, the method of combining B-ultrasound records with a human body structure model is characterized by further comprising the following steps:

[0033] a) Abnormal data identification and marking:

[0034] Using image processing and comparison technology, the abnormal ultrasound data that does not conform to the normal tissue and organ structure is accurately matched and marked in the human body structure model;

[0035] Conduct preliminary assessment of identified abnormal data, including the type, location, size, morphology, and possible clinical significance of the abnormality;

[0036] b) Model structure readjustment:

[0037] Rearrange the specific structures in the model, including bones, muscles, and organs, according to their actual positions in the human body model to ensure that the anatomical structure of the model is consistent with the real situation;

[0038] The human body structure model is supplemented and revised to improve the accuracy and completeness of the model.

[0039] Furthermore, it is characterized in that, if there is no previous high-precision human body structure model, the specific steps of establishing it include:

[0040] a) Basic information acquisition and preliminary modeling:

[0041] Obtain and record the target individual's height, weight, gender, age, race, and any other relevant basic physiological information in detail; utilize advanced 3D modeling technology, combined with this basic physiological information, to construct a human body structure model with basic and accurate human features;

[0042] b) Comprehensive medical imaging data collection and database establishment:

[0043] The system collects a variety of high-quality medical imaging data of the target individual, including optical imaging (surface imaging, endoscopic imaging, pathological imaging), X-ray imaging (plain X-ray, CT), ultrasound imaging (B-ultrasound, color ultrasound), magnetic resonance imaging (MRI, fMRI) and nuclear medicine imaging (PET, SPECT);

[0044] Ensure the comprehensiveness, high resolution and accuracy of imaging data, and establish an individual comprehensive database containing this data; c) Model refinement and customization:

[0045] Based on the individual comprehensive database, the human body structure model is deeply refined and optimized to ensure the high consistency and accuracy of the model with the real human anatomy;

[0046] Based on the unique physiological characteristics of the target individual, personalized models are customized to meet the actual needs of specific individuals; model details are continuously iterated and optimized, and the accuracy and practicality of the model are continuously improved through repeated adjustment, correction and verification to adapt to diverse application scenarios.

[0047] Furthermore, a method for collecting and preliminarily matching B-ultrasound data in a method combining B-ultrasound records with a human body structure model is characterized by further comprising the following steps:

[0048] a) Ultrasound angle recording:

[0049] During the B-ultrasound data collection process, an angle instrument is used to record the scanning angle of the B-ultrasound probe in real time, including the probe's tilt angle, rotation angle, and spatial position angle relative to the human body structure model, to ensure the comprehensiveness and accuracy of B-ultrasound data collection;

[0050] b) Precise displacement tracking:

[0051] Use a gyroscope or similar displacement sensor to track the minute displacement changes of the B-ultrasound probe during the acquisition process in real time, including translation, rotation, and tilt, so as to achieve precise control of the B-ultrasound data acquisition position;

[0052] c) Preliminary matching optimization:

[0053] After acquiring the B-ultrasound data and the human anatomy model, the recorded B-ultrasound angle and displacement information is used, and medical image processing software or tools are used to perform a more accurate preliminary match between the real-time B-ultrasound data and the corresponding positions in the human anatomy model. By combining the angle and displacement information, the B-ultrasound data can be scaled, rotated, and translated to achieve more precise spatial alignment, providing a solid foundation for subsequent data fusion and dynamic analysis.

[0054] Furthermore, the method of combining B-ultrasound records with a human body structure model is characterized by further comprising the following steps:

[0055] a) Probe selection and detailed recording:

[0056] Selection basis: The most appropriate B-ultrasound probe type is scientifically selected based on the location, depth, size, surrounding tissue structure characteristics (such as bones, gas distribution, etc.) of the target examination site, and specific requirements for image clarity and penetration;

[0057] Probe type range: including but not limited to convex array probes, linear array probes, phased array probes, intracavity probes, volume probes, and special probes designed for specific inspection requirements;

[0058] Record content: Before collecting B-ultrasound data, the specific model of the selected probe, operating frequency, optimal application scenario, and expected inspection results must be recorded in detail to ensure the traceability and standardization of the inspection process;

[0059] Intelligent reminder: The system integrates an intelligent probe selection suggestion function, which automatically recommends the most suitable probe to the operator based on the preset examination site and probe matching rules, and issues timely reminders for probe replacement when necessary;

[0060] b) Probe operation optimization and data acquisition quality control:

[0061] Operation Guide: Provides a detailed and standardized operation manual for the probe to guide operators to contact and scan the inspection area with the best angle, force and technique to ensure the accuracy and efficiency of data collection;

[0062] Real-time monitoring and adjustment: During the B-ultrasound data acquisition process, strict image quality and data integrity monitoring is implemented. Based on real-time image feedback, the probe position or equipment parameters are flexibly adjusted to obtain the best quality B-ultrasound data;

[0063] Data labeling and archiving: In each piece of collected B-ultrasound data, key information such as the probe type used, operating frequency, and acquisition time are clearly marked to facilitate subsequent data analysis, model matching, and long-term archiving management.

[0064] Furthermore, the method of combining B-ultrasound recording and human body structure model is characterized by further comprising the following steps: time dimension recording and dynamic image generation:

[0065] a) Timestamp recording: During the entire process of B-ultrasound data acquisition, the system automatically adds an accurate timestamp to each frame of B-ultrasound data, recording the data acquisition time point to ensure the time series integrity of the data;

[0066] b) Dynamic image sequence construction: Using the recorded timestamp information, the continuously acquired B-ultrasound data are arranged in chronological order to construct a dynamic image sequence. This sequence can truly reflect the B-ultrasound image information of the target area that changes over time;

[0067] c) Dynamic image generation and playback: Using visualization tools or software, dynamic image sequences are converted into playable dynamic images. Users can view, replay, or accelerate playback at any time as needed to more intuitively observe the changing trends of the target area;

[0068] d) Timeline analysis and comparison: Provides a timeline analysis tool that allows users to mark key time points on dynamic images and compare ultrasound images at different time points, assisting doctors in analyzing the progression of lesions, treatment effects, or physiological changes, providing richer dynamic information support for clinical decision-making.

[0069] Furthermore, a method for combining B-ultrasound records with a human body structure model is characterized by further comprising abnormal data identification and B-ultrasound guidance, specifically comprising the following steps:

[0070] a. Using image processing and comparison technology, accurately match and mark abnormal data that does not conform to normal tissue and organ structures in the human body structure model. Such abnormal data includes but is not limited to medical imaging data such as X-ray imaging, ultrasound imaging, and magnetic resonance imaging;

[0071] b. Spatially locate the identified abnormal data, determine its specific location in the human body structure model, and intuitively display the area and characteristics of the abnormal data in the model;

[0072] c. Provide orientation instructions for B-ultrasound examination based on the location and characteristics of abnormal data, including the optimal scanning angle, position and scanning path of the probe, to ensure that B-ultrasound can accurately capture the abnormal data area;

[0073] d. At the same time, during the B-ultrasound data collection process, abnormal data is displayed in real time and compared with the current B-ultrasound image, providing operators with immediate on-site judgment basis and helping them to more accurately identify and analyze abnormal areas.

[0074] Furthermore, a system combining B-ultrasound records with a human body structure model is characterized by comprising the following modules:

[0075] a) Human body structure model acquisition and preparation module:

[0076] Model retrieval submodule: responsible for retrieving the established high-precision human body structure model of the target individual from the hospital server or national medical server;

[0077] Model construction submodule: If no previous model exists, it is responsible for building a new high-precision human body structure model based on the basic information of the target individual and medical imaging data;

[0078] Model positioning submodule: responsible for pre-determining the target part or area that needs to be examined by B-ultrasound in the model;

[0079] b) Ultrasound data collection and preliminary matching module:

[0080] Data acquisition submodule: responsible for using ultrasonic reflection imaging technology to collect B-ultrasound data of the target area in real time to ensure the clarity and accuracy of the data;

[0081] Preliminary matching submodule: responsible for preliminarily matching the real-time acquired B-ultrasound data with the corresponding positions in the human body structure model through medical image processing software or tools;

[0082] c) Real-time matching and data fusion module:

[0083] Fine matching submodule: responsible for further optimizing the matching results based on preliminary matching using advanced image registration technology;

[0084] Data fusion submodule: responsible for gradually integrating the optimized and matched B-ultrasound data into the human body structure model;

[0085] d) Gradual filling and model updating module:

[0086] Gradual filling submodule: responsible for continuously filling the newly collected B-ultrasound data into the human body structure model;

[0087] Model update submodule: responsible for updating and optimizing the model as necessary based on B-ultrasound examination results;

[0088] e) Model viewing and dynamic data analysis module:

[0089] Real-time viewing submodule: responsible for providing the function of viewing the filled B-ultrasound data in real time in the personal structure diagram;

[0090] Dynamic analysis submodule: responsible for supporting users to perform dynamic analysis on the filled B-ultrasound data;

[0091] f) Result storage and subsequent application module:

[0092] Result saving submodule: responsible for saving the human body structure model filled with B-ultrasound data as a whole or layered file; subsequent application submodule: responsible for quickly querying and retrieving the model through the retrieval system when the patient visits the doctor later, and updating and optimizing it in combination with new clinical information and imaging data.

[0093] Furthermore, a method for combining B-ultrasound records with a human body structure model is characterized in that it also includes a robotic arm B-ultrasound operation device control and automated inspection, specifically comprising the following steps:

[0094] a) Robotic arm control integration: The robotic arm is integrated into the B-ultrasound operating equipment, and the advanced control system is used to achieve precise control and automated movement of the robotic arm;

[0095] b) Automated scanning path planning: Automatically plans the robot arm's movement trajectory and scanning path based on the pre-determined target area or region in the human body structure model, as well as the optimal scanning angle, position, and scanning path of the B-ultrasound probe;

[0096] c) Real-time feedback and adjustment: During the B-ultrasound scan, the robotic arm uses sensors to monitor the probe's position, angle, and contact with the human body surface in real time. The robotic arm's movements are flexibly adjusted based on the feedback data to ensure scanning accuracy and comfort.

[0097] d) Automated data acquisition and processing: The robotic arm ultrasound operating device automatically completes the acquisition of ultrasound data and transmits the data in real time to the medical image processing system for subsequent processing steps such as preliminary matching, real-time matching, and data fusion;

[0098] e) Automatic response to abnormal situations: During the scanning process, if an abnormal situation occurs (such as patient movement, probe falling off, etc.), the robotic arm ultrasound operating device can automatically stop scanning and issue an alarm, and record the abnormal situation for subsequent analysis and processing.

[0099] Furthermore, an automated B-ultrasound operating system combined with a robotic arm is characterized by comprising the following modules and functions:

[0100] a. Human body structure model acquisition and preparation module:

[0101] Model retrieval submodule: responsible for retrieving the established high-precision human body structure model of the target individual from the hospital server or national medical server;

[0102] Model construction submodule: If no previous model exists, a new high-precision human body structure model is constructed using 3D modeling technology based on the basic information of the target individual (such as height, weight, gender, etc.) and existing medical imaging data (such as X-ray, MRI, etc.);

[0103] Model positioning submodule: pre-determines the target part or area that needs to be examined by B-ultrasound in the model, providing precise spatial positioning for the operation of the robotic arm;

[0104] b. Robotic arm control and operation module:

[0105] Robotic arm drive submodule: responsible for controlling the precise movement and positioning of the robotic arm, ensuring that the robotic arm can accurately reach the preset inspection area;

[0106] Probe installation and adjustment submodule: automatically selects the appropriate B-ultrasound probe and installs it on the robotic arm according to the examination requirements, while adjusting the probe's angle, position, and operating parameters;

[0107] Operation path planning submodule: Based on the human body structure model and inspection requirements, it plans the optimal operation path for the robotic arm to avoid collision with surrounding tissues;

[0108] CB ultrasound data collection and preliminary matching module:

[0109] Data acquisition submodule: The B-ultrasound data of the target part is collected in real time through the B-ultrasound probe on the robotic arm to ensure the clarity and accuracy of the data;

[0110] Preliminary matching submodule: Use medical image processing software or tools to perform preliminary matching between the real-time acquired B-ultrasound data and the corresponding positions in the human body structure model, and achieve rough alignment in spatial position through operations such as image scaling, rotation, and translation;

[0111] d. Real-time matching and data fusion module:

[0112] Fine matching submodule: Based on the preliminary matching, it uses advanced image registration technology to further optimize the matching results to ensure that every detail in the B-ultrasound data accurately matches the actual human body structure;

[0113] Data fusion submodule: gradually integrates the optimized and matched B-ultrasound data into the human body structure model, and observes the fusion effect in real time through visualization tools or software;

[0114] e. Dynamic analysis and result judgment module:

[0115] Abnormal data identification submodule: uses image processing and comparison technology to accurately match and mark abnormal ultrasound data that does not conform to normal tissue and organ structures in the human body structure model;

[0116] Dynamic analysis submodule: supports users to dynamically analyze the filled B-ultrasound data, and observe the changing trend of lesions by comparing B-ultrasound data at different time points or different examination times;

[0117] Result judgment and feedback submodule: Based on dynamic analysis results, it provides doctors with preliminary diagnostic suggestions or abnormal warnings to assist doctors in making clinical decisions;

[0118] f. Model update and result saving module:

[0119] Model update submodule: Based on the results of B-ultrasound examination and dynamic analysis, the model is updated and optimized as necessary, and the structural details in the model are adjusted;

[0120] Result saving submodule: saves the human body structure model filled with B-ultrasound data, as well as related examination results and analysis reports, as a whole or layered file for easy subsequent viewing, analysis and quick retrieval;

[0121] g. User interface and interaction module:

[0122] Operation interface submodule: provides an intuitive and easy-to-use operation interface, allowing doctors or operators to set examination parameters, view real-time B-ultrasound images and model fusion effects, etc.

[0123] Interactive control submodule: supports doctors or operators to interact with the system through touch screen, keyboard, mouse, etc., to achieve flexible control of the examination process. DETAILED DESCRIPTION

[0124] The following is a specific embodiment of the method of combining B-ultrasound records with a human body structure model, taking a patient undergoing a liver B-ultrasound examination as an example:

[0125] Example: Patient undergoes liver ultrasound examination a) Acquisition and preparation of human body structure model:

[0126] Model retrieval:

[0127] Retrieve the patient's established high-precision human body structure model from the hospital server or national medical server. If the patient already has relevant medical imaging data and a 3D model, directly call this model;

[0128] Model construction:

[0129] If the patient does not have a previous model, a new high-precision human body structure model will be constructed using 3D modeling technology based on the patient's basic information such as height, weight, gender, age, and existing liver-related medical imaging data (such as X-rays, MRIs, etc.); Model positioning:

[0130] The target area for B-ultrasound examination, i.e. the liver area, is pre-determined in the model. The exact location of the liver is marked in the model using medical image processing software.

[0131] b) Ultrasound data collection and preliminary matching:

[0132] Data collection:

[0133] Using ultrasonic reflection imaging technology, B-ultrasound data of the patient's liver is collected in real time, ensuring the clarity and accuracy of the data and providing high-quality basic data for subsequent matching and fusion;

[0134] Initial matching:

[0135] Use medical image processing software or tools to preliminarily match the real-time acquired B-ultrasound data with the liver position in the human body structure model. Use image scaling, rotation, translation and other operations to achieve rough alignment in space.

[0136] c) Real-time matching and data fusion:

[0137] Fine matching:

[0138] Based on the preliminary matching, advanced image registration technology is used to further optimize the matching results by calculating the similarity or difference between the ultrasound data and the model. This ensures that the liver details (such as blood vessels and bile ducts) in the ultrasound data are accurately consistent with the actual human body structure.

[0139] Data Fusion:

[0140] Gradually integrate the optimized and matched B-ultrasound data into the human body structure model. Use visualization tools or software to observe the fusion effect in real time to ensure that the liver B-ultrasound data is accurately displayed in the model.

[0141] d) Gradual filling and model updating:

[0142] Gradual filling:

[0143] As the B-ultrasound examination progresses, the newly collected liver B-ultrasound data is continuously filled into the human body structure model; by layering or dividing the area, the data filling of the entire liver area is gradually completed;

[0144] Model Update:

[0145] Based on the results of B-ultrasound examinations, the liver structure in the model was updated and optimized as necessary. Structural details in the model, such as liver size, shape, and vascular distribution, were adjusted to ensure that the model remained highly consistent with the real human anatomy.

[0146] e) Model viewing and dynamic data analysis:

[0147] Real-time viewing:

[0148] Provides the function of viewing the filled liver B-ultrasound data in real time in the personal structure diagram. Doctors or operators can understand the B-ultrasound image information of the patient's liver at any time through the intuitive structure diagram;

[0149] Dynamic analysis:

[0150] Supports users to dynamically analyze the filled liver B-ultrasound data. By comparing B-ultrasound data at different time points or different examination times, the changing trend of liver lesions, such as tumor growth and vascular changes, can be observed, providing strong support for clinical decision-making;

[0151] f) Result storage and subsequent application:

[0152] Save the results:

[0153] Save the human body structure model filled with liver B-ultrasound data as a whole or layered file. This facilitates subsequent viewing, analysis, and quick retrieval and reference.

[0154] Subsequent applications:

[0155] During subsequent patient visits, the model can be quickly retrieved and accessed through the search system. It can be updated and optimized based on new clinical information and imaging data, providing strong support for ongoing diagnosis and treatment, such as observing the progression of liver lesions and evaluating treatment effectiveness.

[0156] Fusion of Time Dimension Recording and Dynamic Image Generation Specific Example: Taking a Patient's Liver B-ultrasound Examination as an Example 1. Preliminary Preparation

[0157] Acquisition and preparation of human body structure models

[0158] The patient's existing high-precision anatomy model is retrieved from the hospital server. If this is the first visit and no previous model exists, a new high-precision anatomy model is constructed using 3D modeling technology based on the patient's basic physiological information, such as height, weight, gender, and age, combined with existing medical imaging data (such as X-rays and MRIs).

[0159] The liver is pre-determined in the model as the target site requiring B-ultrasound examination.

[0160] II. Ultrasound Data Collection and Preliminary Matching

[0161] B-ultrasound data collection

[0162] Select an ultrasound probe type suitable for liver examination (such as a convex array probe) and record in detail the probe's specific model, operating frequency, optimal application scenario, and other information.

[0163] Ultrasonic reflection imaging technology is used to collect real-time B-ultrasound data of the liver, ensuring data clarity and accuracy. An angle meter is used to record the scanning angle of the B-ultrasound probe, and a gyroscope is used to track minute displacement changes of the probe.

[0164] Preliminary matching

[0165] Medical image processing software is used to initially match the real-time ultrasound data with the liver position in the human body model. Using the recorded ultrasound angle and displacement information, the ultrasound data is scaled, rotated, and translated to achieve rough spatial alignment.

[0166] 3. Real-time matching and data fusion

[0167] Real-time matching

[0168] Based on the preliminary matching, advanced image registration technology is used to further optimize the matching results to ensure that every detail in the B-ultrasound data accurately matches the actual liver structure.

[0169] Data fusion

[0170] The optimized and matched B-ultrasound data are gradually integrated into the human body structure model, and the fusion effect is observed in real time through visualization tools to ensure that the data is displayed in the accurate position in the model.

[0171] 4. Time Dimension Recording and Dynamic Image Generation

[0172] Timestamp Recording

[0173] During the entire process of B-ultrasound data collection, the system automatically adds an accurate timestamp to each frame of B-ultrasound data to record the time point of data collection.

[0174] Dynamic image sequence construction

[0175] Using the recorded timestamp information, the continuously acquired liver B-ultrasound data are arranged in chronological order to construct a dynamic image sequence. This sequence can truly reflect the B-ultrasound image information of the liver that changes over time.

[0176] Dynamic image generation and playback

[0177] By using visualization tools, dynamic image sequences are converted into playable dynamic images. Doctors can review, replay, or accelerate playback at any time as needed to more intuitively observe the changing trends of the liver.

[0178] Timeline analysis and comparison

[0179] Provides a timeline analysis tool that allows doctors to mark key time points on dynamic images (such as lesion appearance, treatment start, treatment end, etc.).

[0180] Comparing ultrasound images taken at different time points helps doctors analyze the progression of liver lesions, treatment effectiveness, or physiological changes. For example, by observing the size, morphological changes, and blood flow of the lesion area, doctors can assess treatment effectiveness and disease progression.

[0181] 5. Subsequent Applications and Model Updates

[0182] Model viewing and dynamic data analysis

[0183] Doctors can view the filled liver B-ultrasound data in real time in the personal structure diagram and understand the liver's B-ultrasound imaging information at any time.

[0184] It supports doctors to conduct dynamic analysis of B-ultrasound data after filling, observe the changing trend of lesions by comparing B-ultrasound data of different examination times, and provide strong support for clinical decision-making.

[0185] Result storage and subsequent application

[0186] The liver structure model filled with B-ultrasound data is saved as a whole or layered file for easy subsequent viewing, analysis and quick retrieval.

[0187] During subsequent patient visits, the model can be quickly queried and retrieved through the retrieval system, and updated and optimized in combination with new clinical information and imaging data, providing strong support for the patient's ongoing diagnosis and treatment.

[0188] Model Update

[0189] Based on the results of B-ultrasound examination and dynamic analysis, the liver structure model is updated and optimized as necessary, and the structural details in the model are adjusted to ensure that the model is highly consistent with the actual liver anatomical structure.

[0190] Taking a patient undergoing liver ultrasound examination as an example, this paper explains the specific implementation of abnormal data recognition and ultrasound guidance in the method of combining ultrasound records with human body structure models.

[0191] During the patient's liver ultrasound examination, the method of combining B-ultrasound records with the human body structure model not only provides a high-precision examination method, but also further improves the accuracy of the examination through abnormal data recognition and B-ultrasound guidance functions.

[0192] and efficiency. The following is a detailed implementation description of this function:

[0193] 1. Preliminary Preparation

[0194] Acquisition and preparation of human body structure models

[0195] Retrieve the patient's established high-precision human body model from the hospital server. If the patient is visiting the hospital for the first time and no previous model exists, a new high-precision human body model will be constructed using 3D modeling technology based on the patient's basic physiological information, such as height, weight, gender, and age, combined with existing medical imaging data (such as X-rays and MRIs).

[0196] The liver is pre-determined in the model as the target site for B-ultrasound examination, and the exact location of the liver is marked in the model using medical image processing software;

[0197] 2. Abnormal Data Identification and Labeling

[0198] Abnormal data identification

[0199] Before or during B-ultrasound data collection, image processing and comparison technology is used to conduct a detailed analysis of the liver area in the human body structure model, accurately matching and marking abnormal data that does not conform to the normal liver tissue structure. These abnormal data may come from previous medical imaging data such as X-ray imaging, ultrasound imaging, and magnetic resonance imaging;

[0200] Abnormal data marking

[0201] Spatially locate the identified abnormal data and determine its specific location in the human body structure model;

[0202] Display abnormal data areas and features in the model in an intuitive way (such as different colors, marks, or highlights) so that operators can quickly identify them;

[0203] 3. Ultrasound Guidance and Data Collection

[0204] B-ultrasound guide

[0205] Provides orientation instructions for B-ultrasound examination based on the location and characteristics of abnormal data. This includes the optimal scanning angle, position, and scanning path of the probe to ensure that the B-ultrasound can accurately capture the abnormal data area;

[0206] The system can automatically generate or recommend the optimal scanning plan to assist operators in performing efficient B-ultrasound examinations;

[0207] B-ultrasound data collection

[0208] During the B-ultrasound data collection process, abnormal data is displayed in real time and compared with the current B-ultrasound image. This provides operators with immediate on-site judgment basis, helping them to more accurately identify and analyze abnormal areas.

[0209] The operator can adjust the probe position and scanning angle according to the indication of abnormal data to obtain clearer B-ultrasound images;

[0210] 4. Real-time matching and data fusion

[0211] Real-time matching

[0212] The real-time B-ultrasound data is preliminarily matched with the liver position in the human body structure model, and advanced image registration technology is used to further optimize the matching results. This ensures that the liver details (including abnormal areas) in the B-ultrasound data are accurately consistent with the actual human body structure.

[0213] Data fusion

[0214] The optimized and matched B-ultrasound data is gradually integrated into the human body structure model, and the fusion effect is observed in real time through visualization tools. This ensures that the liver B-ultrasound data (including abnormal areas) are accurately displayed in the model.

[0215] The following is a specific application example of a system that combines B-ultrasound records with a human body structure model in a patient's liver ultrasound examination:

[0216] 1. System Overview

[0217] This system aims to provide doctors with more intuitive and accurate liver ultrasound examination results by combining B-ultrasound records with a high-precision human body structure model. It also supports dynamic data analysis and model updates to optimize the patient's ongoing diagnosis and treatment process.

[0218] 2. System Modules and Functions

[0219] Human body structure model acquisition and preparation module

[0220] Model retrieval submodule: This module retrieves the patient's established high-precision anatomy model from the hospital server. If the patient is a first-time visitor and no previous model exists, the model building process begins.

[0221] Model construction submodule: Based on the patient's basic physiological information such as height, weight, gender, and age, combined with existing liver-related medical imaging data (such as X-ray, MRI, etc.), a new high-precision human body structure model is constructed using 3D modeling technology.

[0222] Model positioning submodule: The liver is pre-determined in the model as the target site for B-ultrasound examination, and the exact location of the liver is marked using medical image processing software.

[0223] B-ultrasound data collection and preliminary matching module

[0224] Data acquisition submodule: Select the type of B-ultrasound probe suitable for liver examination (such as a convex array probe) and collect B-ultrasound data of the patient's liver in real time to ensure the clarity and accuracy of the data.

[0225] Preliminary matching submodule: Using medical image processing software, the real-time collected B-ultrasound data is preliminarily matched with the liver position in the human body structure model, and rough alignment in spatial position is achieved through operations such as image scaling, rotation, and translation.

[0226] Real-time matching and data fusion module

[0227] Fine matching submodule: Based on the preliminary matching, advanced image registration technology is used to further optimize the matching results to ensure that the liver details (such as blood vessels, bile ducts, etc.) in the B-ultrasound data are accurately consistent with the actual human body structure.

[0228] Data fusion submodule: Gradually integrate the optimized and matched B-ultrasound data into the human body structure model, and observe the fusion effect in real time through visualization tools to ensure that the liver B-ultrasound data is displayed in the accurate position in the model.

[0229] Gradual filling and model updating module

[0230] Gradually fill submodule: As the B-ultrasound examination progresses, the newly collected liver B-ultrasound data are continuously filled into the human body structure model, and the data filling of the entire liver area is gradually completed through layering or regional division.

[0231] Model update submodule: Based on the results of B-ultrasound examination, the liver structure in the model is updated and optimized as necessary, and structural details in the model, such as liver size, shape, and vascular distribution, are adjusted to ensure that the model is highly consistent with the real human anatomical structure.

[0232] Model viewing and dynamic data analysis module

[0233] Real-time viewing submodule: provides the function of viewing the filled liver B-ultrasound data in real time in the personal structure diagram, so that doctors can understand the B-ultrasound image information of the patient's liver at any time.

[0234] Dynamic analysis submodule: supports doctors to conduct dynamic analysis on the filled liver B-ultrasound data. By comparing B-ultrasound data at different time points or different examination times, it can observe the changing trend of liver lesions and provide strong support for clinical decision-making.

[0235] Result storage and subsequent application modules

[0236] Result saving submodule: saves the human body structure model filled with liver B-ultrasound data as a whole or layered file for easy subsequent viewing, analysis and quick retrieval reference.

[0237] Subsequent application submodule: When the patient visits the hospital for follow-up treatment, the model can be quickly queried and retrieved through the retrieval system, and updated and optimized in combination with new clinical information and imaging data to provide strong support for the patient's continued diagnosis and treatment.

[0238] 3. Application Examples

[0239] For example, a doctor used this system to perform an ultrasound examination of the patient's liver. By collecting real-time ultrasound data of the patient's liver and matching and integrating it with a high-precision human anatomy model, the doctor was able to clearly observe the patient's liver lesions. Furthermore, through dynamic analysis, the doctor discovered that the lesion area gradually increased in size over time and that blood flow was abnormal. Combining this information with the patient's clinical information, the doctor initially determined that the patient might have liver cancer and developed an appropriate treatment plan. During subsequent visits, the doctor continued to use this system to perform ultrasound examinations of the patient's liver, comparing ultrasound data at different time points to evaluate treatment effectiveness and adjust the treatment plan.

[0240] The control and automated inspection of the robotic arm B-ultrasound operation equipment is carried out, taking a patient undergoing a liver B-ultrasound examination as an example. The specific implementation process of the present invention is as follows:

[0241] Acquisition and preparation of human body structure models

[0242] The patient's established high-precision anatomy model is retrieved from the hospital server. If this is a first-time visit, a new high-precision anatomy model is constructed using 3D modeling technology based on the patient's basic physiological information, such as height, weight, gender, and age, combined with existing medical imaging data (such as X-rays and MRIs).

[0243] The liver is pre-determined as the target examination site in the model, and the exact position of the liver is marked.

[0244] Robotic arm control and operation

[0245] According to the target liver site and the preset scanning path, the robotic arm is controlled to accurately move the ultrasound probe to the designated position.

[0246] The probe installation and adjustment submodule automatically selects a suitable B-ultrasound probe (such as a convex array probe) and adjusts the probe's angle, position, and operating parameters to ensure optimal scanning results.

[0247] Automated scanning and data collection

[0248] The robotic arm automatically performs B-ultrasound scanning according to the planned scanning path, collecting B-ultrasound data of the liver in real time.

[0249] The collected data is transmitted through the system to the medical image processing software for preliminary matching and rough alignment in spatial position.

[0250] Real-time matching and data fusion

[0251] Advanced image registration technology is used to further optimize the matching results and ensure that the liver details (such as blood vessels, bile ducts, etc.) in the B-ultrasound data accurately match the actual human body structure.

[0252] The optimized and matched B-ultrasound data are gradually integrated into the human body structure model, and the fusion effect is observed in real time through visualization tools.

[0253] Dynamic analysis and result judgment

[0254] The system supports dynamic analysis of the filled liver B-ultrasound data, and observes the changing trend of liver lesions by comparing B-ultrasound data at different time points or different examination times.

[0255] Based on dynamic analysis results, preliminary diagnostic suggestions or abnormal warnings are provided to doctors to assist them in making clinical decisions.

[0256] Model update and result saving

[0257] According to the results of B-ultrasound examination and dynamic analysis, the liver structure model is updated and optimized as necessary.

[0258] The human body structure model filled with B-ultrasound data and related examination results and analysis reports are saved as a whole or layered file for easy subsequent viewing, analysis and quick retrieval and reference.

Claims

1. A method for combining B-ultrasound records with a human body structure model, characterized in that: The following steps are involved: a) Acquisition and preparation of human body structure model: Retrieve a high-precision human body structure model of the target individual from a hospital server or a national medical server; If no previous model exists, a new high-precision human body structure model will be constructed using 3D modeling technology based on the target individual's basic information and medical imaging data; Predetermine the target site or area that needs to be examined by B-ultrasound in the model; b) Ultrasound data collection and preliminary matching: Using ultrasonic reflection imaging technology, B-ultrasound data of the target area is collected in real time to ensure data clarity and accuracy. Medical image processing software or tools are used to preliminarily match the real-time collected B-ultrasound data with the corresponding positions in the human body structure model, and operations such as image scaling, rotation, and translation are used to achieve rough alignment in space. c) Real-time matching and data fusion: Based on the preliminary matching, advanced image registration technology is used to further optimize the matching results by calculating the similarity or difference between the B-ultrasound data and the model, ensuring that every detail in the B-ultrasound data accurately matches the actual human structure. The optimized and matched B-ultrasound data is gradually integrated into the human structure model, and the fusion effect is observed in real time through visualization tools or software to ensure that the data is displayed in the accurate position in the model. d) Gradual filling and model updating: As the B-ultrasound examination progresses, the newly collected B-ultrasound data are continuously filled into the human body structure model, and the data filling of the entire target area is gradually completed by layering or dividing the area. Based on the results of B-ultrasound examination, the model is updated and optimized as necessary, and the structural details in the model are adjusted to ensure that the model is highly consistent with the real human anatomy; e) Model viewing and dynamic data analysis: Provides the function of viewing the filled B-ultrasound data in real time in the personal structure diagram, so that users can understand the B-ultrasound image information of the target part at any time through the intuitive structure diagram; Support users to dynamically analyze the filled B-ultrasound data. By comparing B-ultrasound data at different time points or different examination times, the changing trend of lesions can be observed, providing strong support for clinical decision-making. f) Result storage and subsequent application: Save the human body structure model filled with B-ultrasound data as a whole or layered file for easy subsequent viewing, analysis and quick retrieval; During subsequent patient visits, the model can be quickly queried and retrieved through the retrieval system, and updated and optimized in combination with new clinical information and imaging data, providing strong support for the patient's ongoing diagnosis and treatment.

2. The method for combining B-ultrasound records with a human body structure model according to claim 1, wherein: The following steps are also included: a) Abnormal data identification and marking: Using image processing and comparison technology, the abnormal ultrasound data that does not conform to the normal tissue and organ structure is accurately matched and marked in the human body structure model; Conduct preliminary assessment of identified abnormal data, including the type, location, size, morphology, and possible clinical significance of the abnormality; b) Model structure readjustment: Rearrange the specific structures in the model, including bones, muscles, and organs, according to their actual positions in the human body model to ensure that the anatomical structure of the model is consistent with the real situation; The human body structure model is supplemented and revised to improve the accuracy and completeness of the model.

3. The method according to claim 1 or 2, wherein: If there is no previous high-precision human body structure model, the specific steps for establishing it include: a) Basic information acquisition and preliminary modeling: Obtain and record the target individual's height, weight, gender, age, race, and any other relevant basic physiological information in detail; utilize advanced 3D modeling technology, combined with this basic physiological information, to construct a human body structure model with basic and accurate human features; b) Comprehensive medical imaging data collection and database establishment: The system collects a variety of high-quality medical imaging data of the target individual, including optical imaging (surface imaging, endoscopic imaging, pathological imaging), X-ray imaging (plain X-ray, CT), ultrasound imaging (B-ultrasound, color ultrasound), magnetic resonance imaging (MRI, fMRI) and nuclear medicine imaging (PET, SPECT); Ensure the comprehensiveness, high resolution and accuracy of imaging data and establish an individual comprehensive database containing this data. c) Model refinement and customization: Based on the individual comprehensive database, the human body structure model is deeply refined and optimized to ensure the high consistency and accuracy of the model with the real human anatomy; Based on the unique physiological characteristics of the target individual, the model can be customized to meet the actual needs of the specific individual; Continuously iterate and optimize model details, and through repeated adjustment, correction and verification, continuously improve the accuracy and practicality of the model to adapt to diverse application scenarios.

4. A method for collecting and preliminarily matching B-ultrasound data in a method combining B-ultrasound records with a human body structure model, characterized in that: It also includes the following steps: a) Ultrasound angle recording: During the B-ultrasound data collection process, an angle instrument is used to record the scanning angle of the B-ultrasound probe in real time, including the probe's tilt angle, rotation angle, and spatial position angle relative to the human body structure model, to ensure the comprehensiveness and accuracy of B-ultrasound data collection; b) Precise displacement tracking: Use a gyroscope or similar displacement sensor to track the minute displacement changes of the B-ultrasound probe during the acquisition process in real time, including translation, rotation, and tilt, so as to achieve precise control of the B-ultrasound data acquisition position; c) Preliminary matching optimization: After acquiring the B-ultrasound data and the human anatomy model, the recorded B-ultrasound angle and displacement information is used, and medical image processing software or tools are used to perform a more accurate preliminary match between the real-time B-ultrasound data and the corresponding positions in the human anatomy model. By combining the angle and displacement information, the B-ultrasound data can be scaled, rotated, and translated to achieve more precise spatial alignment, providing a solid foundation for subsequent data fusion and dynamic analysis.

5. The method for combining B-ultrasound records with a human body structure model according to claim 1, 2, 3 or 4, wherein: The following steps are also included: a) Probe selection and detailed recording: Selection basis: The most appropriate B-ultrasound probe type is scientifically selected based on the location, depth, size, surrounding tissue structure characteristics (such as bones, gas distribution, etc.) of the target examination site, and specific requirements for image clarity and penetration; Probe type range: including but not limited to convex array probes, linear array probes, phased array probes, intracavity probes, volume probes, and special probes designed for specific inspection requirements; Record content: Before collecting B-ultrasound data, the specific model of the selected probe, operating frequency, optimal application scenario, and expected inspection results must be recorded in detail to ensure the traceability and standardization of the inspection process; Intelligent reminder: The system integrates an intelligent probe selection suggestion function, which automatically recommends the most suitable probe to the operator based on the preset examination site and probe matching rules, and issues timely reminders for probe replacement when necessary; b) Probe operation optimization and data acquisition quality control: Operation Guide: Provides a detailed and standardized operation manual for the probe to guide operators to contact and scan the inspection area with the best angle, force and technique to ensure the accuracy and efficiency of data collection; Real-time monitoring and adjustment: During the B-ultrasound data acquisition process, strict image quality and data integrity monitoring is implemented. Based on real-time image feedback, the probe position or equipment parameters are flexibly adjusted to obtain the best quality B-ultrasound data; Data labeling and archiving: In each piece of collected B-ultrasound data, key information such as the probe type used, operating frequency, and acquisition time are clearly marked to facilitate subsequent data analysis, model matching, and long-term archiving management.

6. The method for combining B-ultrasound records with a human body structure model according to claim 1, 2, 3, 4 or 5, wherein: The following steps are also included: Time dimension recording and dynamic image generation: a) Timestamp recording: During the entire process of B-ultrasound data acquisition, the system automatically adds an accurate timestamp to each frame of B-ultrasound data, recording the data acquisition time point to ensure the time series integrity of the data; b) Dynamic image sequence construction: Using the recorded timestamp information, the continuously acquired B-ultrasound data are arranged in chronological order to construct a dynamic image sequence. This sequence can truly reflect the B-ultrasound image information of the target area that changes over time; c) Dynamic image generation and playback: Using visualization tools or software, dynamic image sequences are converted into playable dynamic images. Users can view, replay, or accelerate playback at any time as needed to more intuitively observe the changing trends of the target area; d) Timeline analysis and comparison: Provides a timeline analysis tool that allows users to mark key time points on dynamic images and compare ultrasound images at different time points, assisting doctors in analyzing the progression of lesions, treatment effects, or physiological changes, providing richer dynamic information support for clinical decision-making.

7. A method for combining B-ultrasound records with a human body structure model, characterized in that: It also includes abnormal data identification and B-ultrasound guidance, which specifically includes the following steps: a. Using image processing and comparison technology, accurately match and mark abnormal data that does not conform to normal tissue and organ structures in the human body structure model. Such abnormal data includes but is not limited to medical imaging data such as X-ray imaging, ultrasound imaging, and magnetic resonance imaging; b. Spatially locate the identified abnormal data, determine its specific location in the human body structure model, and intuitively display the area and characteristics of the abnormal data in the model; c. Provide orientation instructions for B-ultrasound examination based on the location and characteristics of abnormal data, including the optimal scanning angle, position and scanning path of the probe, to ensure that B-ultrasound can accurately capture the abnormal data area; d. At the same time, during the B-ultrasound data collection process, abnormal data is displayed in real time and compared with the current B-ultrasound image, providing operators with immediate on-site judgment basis and helping them to more accurately identify and analyze abnormal areas.

8. A system combining B-ultrasound records with a human body structure model, characterized in that: Contains the following modules: a) Human body structure model acquisition and preparation module: Model retrieval submodule: responsible for retrieving the established high-precision human body structure model of the target individual from the hospital server or national medical server; Model construction submodule: If no previous model exists, it is responsible for building a new high-precision human body structure model based on the basic information of the target individual and medical imaging data; Model positioning submodule: responsible for pre-determining the target part or area that needs to be examined by B-ultrasound in the model; b) Ultrasound data collection and preliminary matching module: Data acquisition submodule: responsible for using ultrasonic reflection imaging technology to collect B-ultrasound data of the target area in real time to ensure the clarity and accuracy of the data; Preliminary matching submodule: responsible for preliminarily matching the real-time acquired B-ultrasound data with the corresponding positions in the human body structure model through medical image processing software or tools; c) Real-time matching and data fusion module: Fine matching submodule: responsible for further optimizing the matching results based on preliminary matching using advanced image registration technology; Data fusion submodule: responsible for gradually integrating the optimized and matched B-ultrasound data into the human body structure model; d) Gradual filling and model updating module: Gradual filling submodule: responsible for continuously filling the newly collected B-ultrasound data into the human body structure model; Model update submodule: responsible for updating and optimizing the model as necessary based on B-ultrasound examination results; e) Model viewing and dynamic data analysis module: Real-time viewing submodule: responsible for providing the function of viewing the filled B-ultrasound data in real time in the personal structure diagram; Dynamic analysis submodule: responsible for supporting users to perform dynamic analysis on the filled B-ultrasound data; f) Result storage and subsequent application module: Result saving submodule: responsible for saving the human body structure model filled with B-ultrasound data as a whole or layered file; Subsequent application submodule: responsible for quickly querying and retrieving the model through the retrieval system when the patient visits the doctor later, and updating and optimizing it in combination with new clinical information and imaging data.

9. A method for combining B-ultrasound records with a human body structure model, characterized in that: It also includes the control and automated inspection of the robotic arm B-ultrasound operation equipment, which specifically includes the following steps: a) Robotic arm control integration: The robotic arm is integrated into the B-ultrasound operating equipment, and the advanced control system is used to achieve precise control and automated movement of the robotic arm; b) Automated scanning path planning: Automatically plans the robot arm's movement trajectory and scanning path based on the pre-determined target area or region in the human body structure model, as well as the optimal scanning angle, position, and scanning path of the B-ultrasound probe; c) Real-time feedback and adjustment: During the B-ultrasound scan, the robotic arm uses sensors to monitor the probe's position, angle, and contact with the human body surface in real time. The robotic arm's movements are flexibly adjusted based on the feedback data to ensure scanning accuracy and comfort. d) Automated data acquisition and processing: The robotic arm ultrasound operating device automatically completes the acquisition of ultrasound data and transmits the data in real time to the medical image processing system for subsequent processing steps such as preliminary matching, real-time matching, and data fusion; e) Automatic response to abnormal situations: During the scanning process, if an abnormal situation occurs (such as patient movement, probe falling off, etc.), the robotic arm ultrasound operating device can automatically stop scanning and issue an alarm, and record the abnormal situation for subsequent analysis and processing.

10. An automated B-ultrasound operating system combined with a robotic arm, characterized in that: Contains the following modules and functions: a. Human body structure model acquisition and preparation module: Model retrieval submodule: responsible for retrieving the established high-precision human body structure model of the target individual from the hospital server or national medical server; Model construction submodule: If no previous model exists, a new high-precision human body structure model is constructed using 3D modeling technology based on the basic information of the target individual (such as height, weight, gender, etc.) and existing medical imaging data (such as X-ray, MRI, etc.); Model positioning submodule: pre-determines the target part or area that needs to be examined by B-ultrasound in the model, providing precise spatial positioning for the operation of the robotic arm; b. Robotic arm control and operation module: Robotic arm drive submodule: responsible for controlling the precise movement and positioning of the robotic arm, ensuring that the robotic arm can accurately reach the preset inspection area; Probe installation and adjustment submodule: automatically selects the appropriate B-ultrasound probe and installs it on the robotic arm according to the examination requirements, while adjusting the probe's angle, position, and operating parameters; Operation path planning submodule: Based on the human body structure model and inspection requirements, it plans the optimal operation path for the robotic arm to avoid collision with surrounding tissues; CB ultrasound data collection and preliminary matching module: Data acquisition submodule: The B-ultrasound data of the target part is collected in real time through the B-ultrasound probe on the robotic arm to ensure the clarity and accuracy of the data; Preliminary matching submodule: Use medical image processing software or tools to perform preliminary matching between the real-time acquired B-ultrasound data and the corresponding positions in the human body structure model, and achieve rough alignment in spatial position through operations such as image scaling, rotation, and translation; d. Real-time matching and data fusion module: Fine matching submodule: Based on the preliminary matching, it uses advanced image registration technology to further optimize the matching results to ensure that every detail in the B-ultrasound data accurately matches the actual human body structure; Data fusion submodule: gradually integrates the optimized and matched B-ultrasound data into the human body structure model, and observes the fusion effect in real time through visualization tools or software; e. Dynamic analysis and result judgment module: Abnormal data identification submodule: uses image processing and comparison technology to accurately match and mark abnormal ultrasound data that does not conform to normal tissue and organ structures in the human body structure model; Dynamic analysis submodule: supports users to dynamically analyze the filled B-ultrasound data, and observe the changing trend of lesions by comparing B-ultrasound data at different time points or different examination times; Result judgment and feedback submodule: Based on dynamic analysis results, it provides doctors with preliminary diagnostic suggestions or abnormal warnings to assist doctors in making clinical decisions; f. Model update and result saving module: Model update submodule: Based on the results of B-ultrasound examination and dynamic analysis, the model is updated and optimized as necessary, and the structural details in the model are adjusted; Result saving submodule: saves the human body structure model filled with B-ultrasound data, as well as related examination results and analysis reports, as a whole or layered file for easy subsequent viewing, analysis and quick retrieval; g. User interface and interaction module: Operation interface submodule: provides an intuitive and easy-to-use operation interface, allowing doctors or operators to set examination parameters, view real-time B-ultrasound images and model fusion effects, etc. Interactive control submodule: supports doctors or operators to interact with the system through touch screen, keyboard, mouse, etc., to achieve flexible control of the examination process.