Three-dimensional high-frequency ultrasonic ophthalmic examination device and method, equipment and storage medium

Abstract

The invention provides a three-dimensional high-frequency ultrasonic ophthalmic examination device and method, equipment and a medium. The three-dimensional high-frequency ultrasonic ophthalmic examination device comprises a mechanical arm, an ultrasonic probe and a host, wherein the ultrasonic probe is clamped at the tail end of the mechanical arm; in the dragging mode, the mechanical arm moves to adjust the position of the ultrasonic probe; in an imaging mode, the mechanical arm locks the joint so as to keep the position of the ultrasonic probe unchanged; and in the scanning process, the host sends a trigger signal to the ultrasonic probe, so that the ultrasonic probe performs rotary scanning imaging, records the real-time angle of the micro motor, emits an acoustic beam and records an echo signal until the whole scanning process is completed. And after scanning is finished, signal processing and image reconstruction are carried out. According to the invention, scanning and reconstruction of eyeballs are realized by using a linear array ultrasonic probe rotation mode. The result can visually present the spatial form of the eye structure and the relationship between the eye structure and surrounding tissues, the limitation that traditional two-dimensional ultrasound depends on doctor imagination splicing is changed, and the diagnosis precision of diseases such as glaucoma, intraocular tumors and complex retinal detachment is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a three-dimensional high-frequency ultrasonic ophthalmic examination device and method, equipment and storage medium. BACKGROUND

[0002] Ultrasound imaging has irreplaceable important value in ophthalmic examination. It realizes the non-invasive visualization of the eye structure by using sound waves, especially when opaque media (such as cataract, hemorrhage) hinder optical examination, it becomes a core diagnostic means. There are two main types of ophthalmic ultrasonic examination equipment on the market. The first is ultrasonic biomicroscopy (UBM), which uses 50-100MHz high-frequency ultrasound to provide high-resolution two-dimensional images of the anterior segment with an imaging depth of 4-5mm. The second is a probe-type ophthalmic A / B ultrasound, usually with a frequency of 5-15MHz, A ultrasound is used for accurate axial measurement, and B ultrasound is used for two-dimensional imaging of the posterior segment.

[0003] Clinical studies have shown that UBM can see the anterior segment but not the posterior segment, and traditional B ultrasound can see the posterior segment but has insufficient resolution. Current ophthalmic ultrasound imaging faces the challenge of "not seeing" or "not seeing clearly". In addition, current ophthalmic ultrasound is still two-dimensional imaging, and doctors cannot directly obtain the three-dimensional morphology of the lesion and its spatial relationship with the surrounding tissue, and can only rely on experience to "fill in the blanks", which brings great challenges to accurate diagnosis and surgical planning.

[0004] On a living body, non-invasive, rapid and one-stop acquisition of fine three-dimensional anatomical data of the entire eyeball is expected to provide accurate decision support for clinical diagnosis, surgical planning, efficacy evaluation and prognosis: to realize high-resolution three-dimensional "perspective" of the entire eyeball, to improve the accuracy of complex lesion diagnosis; to realize the whole process of precise management from "preoperative planning" to "postoperative verification"; to realize the automation, standardization and traceability of ophthalmic measurements. Therefore, it is necessary to develop an imaging device that balances imaging depth and resolution and can realize three-dimensional detection of the eyeball. SUMMARY

[0005] In order to achieve the above-mentioned purposes and other advantages of the present application, the first object of the present application is to provide a three-dimensional high-frequency ultrasonic ophthalmic examination device, comprising a mechanical arm, an ultrasonic probe and a host computer, the ultrasonic probe is clamped at the end of the mechanical arm; The host computer is used for excitation of the ultrasonic probe, echo signal acquisition, position control of the micro motor inside the ultrasonic probe, and signal processing and image reconstruction; In drag mode, the mechanical arm follows to adjust the position of the ultrasonic probe; in imaging mode, the mechanical arm locks the joints to keep the position of the ultrasonic probe unchanged; During the scanning process, the host sends a trigger signal to the ultrasonic probe to make the ultrasonic probe perform rotational scanning imaging, record the real-time angle of the micro motor, and at the same time, the ultrasonic probe emits a sound beam and records an echo signal until the entire scanning process is completed.

[0006] Further, the ultrasonic probe comprises an external probe shell and an internal probe assembly, which comprises, in order from bottom to top, an ultrasonic probe body, a probe clamp, a lower bearing, a shaft coupling, a micro motor, a wire card, an upper bearing and a bus cable; The probe shell is internally provided with a first annular groove and a second annular groove, a crossbeam, and a shaft structure in the center above the probe shell for connecting the mechanical arm; The bus cable is used for connecting the ultrasonic probe and the host, comprising an ultrasonic probe cable and a motor cable, the ultrasonic probe cable provides power and signal transmission for the ultrasonic probe body, and the motor cable provides power for the micro motor, controls its movement and returns real-time position signals; The probe clamp is in the shape of a cylinder as a whole, has an outward eave on the upper part, has a square opening inside for adapting to the head of the ultrasonic probe body, and is respectively used for realizing circumferential and axial positioning of the inner ring of the lower bearing to fix the ultrasonic probe body; The lower bearing is fixed in the first annular groove of the probe shell; The micro motor is fixed on the crossbeam of the probe shell, and the motor cable is located at the top center; The shaft coupling connects the output shaft of the micro motor and the probe upper shaft, and is used for transmitting power, compensating for deviation, damping and overload protection; The wire card is in the shape of a cylinder as a whole, has an outward eave on the upper part and the lower part, has a circular opening inside for adapting to the bus cable, and is respectively used for realizing circumferential and axial positioning of the inner ring of the upper bearing to fix the bus cable; The upper bearing is fixed in the second annular groove of the probe shell.

[0007] Further, the ultrasonic probe cable comprises a first sub-cable and a second sub-cable, the first sub-cable and the second sub-cable adopt two-side symmetrical wire-out, for balancing the cable stress caused by rotation.

[0008] Further, the ultrasonic probe body is a high-frequency linear array ultrasonic probe; The middle part of the probe shell is in the shape of a cylinder, and the two ends are gradually narrowed; The length of the wire card is greater than the thickness of the upper bearing.

[0009] Further, it further comprises an acoustic coupling medium module, which comprises an eye cup and a water bag; The eye cup is used to hold sterile liquid coupling agent and consists of an upper cup body and a bottom contact ring. The upper cup body is used to fix the probe shell. The water bladder is used to hold liquid coupling agent and consists of an upper connecting ring and a bottom bladder.

[0010] Furthermore, it also includes a display screen, keyboard and mouse, and printer; The device is mounted on a trolley with a three-layer structure. The upper layer is equipped with a display screen, operating keyboard and mouse, and robotic arm; the middle layer is equipped with the main unit; and the lower layer is equipped with a printer for outputting the patient's examination results. The trolley is equipped with braked swivel casters at the bottom for movement and fixation; The device is equipped with an emergency stop button to stop the control system in the event of an accident.

[0011] A second objective of this invention is to provide a three-dimensional high-frequency ultrasound ophthalmic examination method, applied to the aforementioned apparatus, comprising the following steps: Start the 3D scan, control the micro motor to drive the ultrasonic probe to rotate relative to the main shaft, and perform a zero-reset; During the scanning process, a trigger signal is sent to the ultrasound probe to record the real-time angle. At the same time, the ultrasound probe emits a sound beam and records the echo signal until the entire scanning process is completed. After the scan is completed, the three-dimensional model is reconstructed based on the alignment angle signal and echo signal.

[0012] Furthermore, the step of reconstructing the three-dimensional model based on the alignment angle signal and echo signal includes: The original image sequence is cleaned and standardized, including image filtering, calibration, and alignment; The coordinates of the pixels in each frame of the image are transformed based on the angle signal, so that each pixel in the original two-dimensional image is assigned a three-dimensional spatial coordinate. Define a regular three-dimensional cubic mesh containing all data points in the world coordinate system, and calculate the gray value that the voxel should have by interpolation algorithm for each voxel. A 3D filter is applied to the entire dataset to further suppress noise and smooth the data, while simultaneously performing visualization rendering.

[0013] A third objective of the present invention is to provide a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the above-described method.

[0014] A fourth objective of the present invention is to provide a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the above-described method.

[0015] Compared with the prior art, the beneficial effects of the present invention are: This invention provides a three-dimensional high-frequency ultrasound ophthalmic examination device that uses a rotating linear array ultrasound probe to scan and reconstruct the eyeball. The results can intuitively present the spatial morphology of the eye structure and its relationship with surrounding tissues, overcoming the limitations of traditional two-dimensional ultrasound that relies on the doctor's imagination to piece things together, and improving the diagnostic accuracy of diseases such as glaucoma, intraocular tumors, and complex retinal detachment.

[0016] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it according to the contents of the specification, the preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings. Specific embodiments of the present invention are given in detail below with reference to the accompanying drawings. Attached Figure Description

[0017] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings: Figure 1 This is a structural diagram of a three-dimensional high-frequency ultrasound ophthalmic examination device; Figure 2 This is a structural diagram of the probe housing; Figure 3 This is a diagram of the internal structure of an ultrasonic probe. Figure 4 Here is a structural diagram of the probe components; Figure 5 This is a schematic diagram of the principle of three-dimensional high-frequency ultrasound ocular imaging. Figure 6 This is a flowchart of a three-dimensional high-frequency ultrasound ophthalmic examination method. Figure 7 This is a cross-sectional image of an ex vivo pig eye based on a three-dimensional high-frequency ultrasound ophthalmic examination device; Figure 8 This is a 3D reconstruction image of an ex vivo pig eye based on a 3D high-frequency ultrasound ophthalmic examination device; Figure 9 This is a schematic diagram of a computer device. Figure 10 This is a schematic diagram of a computer-readable storage medium.

[0018] In the diagram: 1. Trolley; 2. Display screen; 3. Keyboard and mouse; 4. Robotic arm; 5. Ultrasonic probe; 51. Probe housing; 511. First annular groove; 512. Second annular groove; 513. Crossbeam; 52. Main cable; 521. First branch cable; 5222. Second branch cable; 523. Motor cable; 53. Ultrasonic probe body; 54. Probe clamp; 55. Lower bearing; 56. Coupling; 57. Micro motor; 58. Cable clip; 59. Upper bearing; 6. Main unit; 7. Printer; 8. Emergency stop button; 9. Brake swivel caster; 91. Eye cup; 911. Upper cup body; 912. Bottom contact ring; 92. Water bladder; 921. Upper connecting ring; 922. Bottom bladder body. Detailed Implementation

[0019] The present invention will now be further described with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0020] Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this invention.

[0021] The drawing numbers in this application are only used to distinguish the steps in the scheme and are not used to limit the execution order of the steps. The specific execution order is as described in the specification.

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0023] To overcome the shortcomings of existing technologies, this invention provides a non-invasive heart failure screening method and system based on the mining of complementary information from cardiac impact and heart sounds. Its core objective is to efficiently mine complementary physiological information from BCG and PCG using a deep learning model to achieve heart failure classification and screening, suitable for routine home monitoring scenarios.

[0024] Example 1 A three-dimensional high-frequency ultrasound ophthalmic examination device enables comprehensive assessment from the anterior segment to the posterior segment of the eye. For example... Figure 1 As shown, the device includes a robotic arm 4, an ultrasonic probe 5, and a main unit 6, with the ultrasonic probe clamped at the end of the robotic arm; The host is used for excitation and echo signal acquisition of the ultrasonic probe, position control of the micro motor inside the ultrasonic probe, and signal processing and image reconstruction. In drag mode, the robotic arm moves to adjust the position of the ultrasound probe, for example, the doctor adjusts the ultrasound probe 5 to a suitable position according to the patient's actual situation; in imaging mode, the robotic arm locks its joints to keep the position of the ultrasound probe unchanged. During the scanning process, the host sends a trigger signal to the ultrasonic probe to enable the ultrasonic probe to perform rotational scanning imaging, record the real-time angle of the micro motor, and at the same time, the ultrasonic probe emits a sound beam and records the echo signal until the entire scanning process is completed.

[0025] In some embodiments, the device also includes a display screen 2, an operation keyboard and mouse 3, and a printer 7; The device is installed on a trolley 1, which has a three-layer structure. The upper layer is equipped with a display screen 2, an operating keyboard and mouse 3 and a robotic arm 4, the middle layer is equipped with a system host 6, and the lower layer is equipped with a report printer 7 for outputting the patient's examination results. The bottom of the trolley 1 is equipped with braked swivel casters 9 for movement and fixation; The device is equipped with an emergency stop button 8, which can be used to control the system to stop working with one button in the event of an accident, so as to avoid causing a larger accident.

[0026] In some embodiments, such as Figure 2 , Figure 3 As shown, the ultrasonic probe includes an outer probe housing 51 and an inner probe assembly. The probe housing 51 serves to protect the ultrasonic probe and fix the internal assembly. The probe assembly, from bottom to top, includes an ultrasonic probe body 53, a probe clamp 54, a lower bearing 55, a coupling 56, a micro motor 57, a cable clamp 58, an upper bearing 59, and a main cable 52. Preferably, the probe housing 51 is cylindrical in the middle and gradually narrows at both ends. It is provided with a first annular groove 511, a second annular groove 512, a crossbeam 513 and other structures inside. The probe housing has a shaft structure at the top center for connecting the robotic arm. The probe housing can be manufactured using methods such as injection molding, CNC machining, and 3D printing. The probe housing can be designed with snap-fit ​​or threaded structures for securing optional components.

[0027] The main cable 52 is used to connect the ultrasonic probe to the host, and includes an ultrasonic probe cable and a motor cable. The ultrasonic probe cable provides power and signal transmission to the ultrasonic probe body, and the motor cable provides power to the micro motor, controls its movement, and returns a real-time position signal. Preferably, the ultrasonic probe body 53 is a high-frequency linear array ultrasonic probe. The ultrasonic probe body adopts symmetrical cable outputs on both sides to balance the cable stress caused by rotation, namely the first branch cable 521 and the second branch cable 522. Optionally, the probe center frequency is 30 MHz, the number of array elements is 192, and the center-to-center distance of the array elements is 0.75. The above parameters can be directionally designed according to actual needs.

[0028] The probe clamp is cylindrical in shape with an outwardly protruding eave at the top and a square opening inside that fits the head of the ultrasonic probe. These openings are used to engage with the inner ring of the lower bearing to achieve circumferential and axial positioning and fix the ultrasonic probe body. The lower bearing 55 is fixed in the first annular groove 511 of the probe housing 51; The micro motor 57 is fixed on the crossbeam of the probe housing 51, and the motor cable is located at the top center; The coupling 56 connects the output shaft of the micro motor to the upper shaft of the probe, and is used to transmit power, compensate for deviations, reduce vibration and provide overload protection; The cable clip 58 is cylindrical in shape, with outward protrusions at the top and bottom. It has a circular opening inside that fits the main cable, which is used to cooperate with the inner ring of the upper bearing 59 to achieve circumferential and axial positioning and fix the main cable 52. The length of the cable clip 58 is greater than the thickness of the upper bearing 59.

[0029] The upper bearing 59 is fixed in the second annular groove 512 of the probe housing 51.

[0030] During rotational scanning imaging, the lower bearing 55 restricts the axial position of the ultrasonic probe body 53, allowing it to rotate stably around its axis under the drive of the micro motor 57. The upper bearing 59 restricts the axial position of the cable clamp 58, while the cable clamp 58 can move axially within a limited range to meet the deformation requirements of the cable during rotation. Typically, the scanning angle is set to 180°, with the first branch cable 521 and the second branch cable 522 close to the crossbeam 513 at the initial angle. After rotating 180°, the first branch cable 521 and the second branch cable 522 are close to the opposite crossbeam. When repeated scanning is required, the scanning angle is set to -180 degrees to return to the starting position. That is, the scanning angle of the micro motor is always within the range of 0-180 degrees, avoiding excessive twisting of the main cable 52.

[0031] Because ultrasound waves cannot penetrate air, an acoustic coupling medium (such as water or gel) must be used between the probe and the surface of the eye to exclude air and ensure that sound waves can be transmitted and emitted efficiently. Figure 4 As shown, it also includes an acoustic coupling medium module, which includes an eye cup and a water sac; The eye cup 91 consists of an upper cup body 911 and a bottom contact ring 912. During the examination, it is placed directly on the surface of the patient's eyeball and sterile liquid coupling agent is injected into the cup. The upper cup body 911 can be designed with snap-fit, threaded, or other structures to secure the probe housing 51. The eye cup 91 gently opens the patient's upper and lower eyelids to prevent blinking, while creating a stable liquid filling space for the examination.

[0032] The water-filled balloon 92 consists of an upper connecting ring 921 and a lower balloon body 922. During the examination, liquid coupling agent is injected and the balloon is placed on the surface of the eyeball. The water-filled balloon provides a smooth contact interface for the curved eyeball, while also acting as a buffer to prevent the hard probe surface from directly rubbing against and contacting the cornea, thus improving patient comfort and safety.

[0033] Three-dimensional high-frequency ultrasound ocular imaging, such as Figure 5 As shown. During imaging, the ultrasound probe is positioned directly above the eyeball and rotates while imaging. Ultrasound images 100 and 200 show the imaging results when the probe is at different angles. When the probe rotates 180°, a full-range scan of the eyeball is completed.

[0034] Example 2 A three-dimensional high-frequency ultrasound ophthalmic examination method is applied to the aforementioned device. For a detailed description of the device, please refer to the corresponding description in the above-described device embodiments; it will not be repeated here. Figure 6 As shown, the method includes the following steps: The 3D scan is initiated, and the host computer controls the micro motor to drive the ultrasonic probe to rotate relative to the main shaft for zeroing and reset. During the scanning process, the host sends a trigger signal to the ultrasound probe and records the real-time angle. At the same time, the ultrasound probe emits a sound beam and records the echo signal until the entire scanning process is completed, that is, the 180° scan is completed. After scanning, the host computer reconstructs the 3D model based on the alignment angle signal and echo signal. Specific steps include: The original image sequence is cleaned and standardized, including image filtering, calibration and alignment, to provide high-quality data for subsequent steps; The coordinates of the pixels in each frame of the image are transformed based on the angle signal, so that each pixel in the original two-dimensional image is assigned a three-dimensional spatial coordinate. Define a regular three-dimensional cubic mesh containing all data points in the world coordinate system, and calculate the gray value that the voxel should have by interpolation algorithm for each voxel. A 3D filter is applied to the entire dataset to further suppress noise and smooth the data, while simultaneously performing visualization rendering.

[0035] Imaging results of isolated pig eyes as follows Figure 7 As shown, structures such as the cornea, lens, iris, and ciliary body can be clearly displayed.

[0036] The results of three-dimensional reconstruction of isolated pig eyes are as follows: Figure 8 As shown, it can achieve three-dimensional "perspective" of the entire eye.

[0037] Example 3 A computer device 100, such as Figure 9 As shown, the system includes a memory 110, a processor 120, and a computer program 130 stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of a three-dimensional high-frequency ultrasound ophthalmic examination method. For a detailed description of the method, please refer to the corresponding description in the above method embodiments; it will not be repeated here.

[0038] Example 4 A computer-readable storage medium, such as Figure 10 As shown, a computer program is stored thereon, which, when executed by a processor, implements the steps of a three-dimensional high-frequency ultrasound ophthalmic examination method. For a detailed description of the method, please refer to the corresponding description in the above method embodiments, which will not be repeated here.

[0039] The number of devices and processing scale described herein are for the purpose of simplifying the description of the invention. Applications, modifications, and variations of the invention will be readily apparent to those skilled in the art.

[0040] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. For those skilled in the art, other modifications can be easily made. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

[0041] The apparatus, computer device, and non-volatile computer storage medium and method provided in the embodiments of this specification are corresponding. Therefore, the apparatus, computer device, and non-volatile computer storage medium also have similar beneficial technical effects as the corresponding method. Since the beneficial technical effects of the method have been described in detail above, the beneficial technical effects of the corresponding apparatus, computer device, and non-volatile computer storage medium will not be repeated here.

[0042] Those skilled in the art will also know that, besides implementing the controller in the form of purely computer-readable program code, the same functions can be achieved by logically programming the method steps, making the controller take the form of logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers (PLCs), and embedded microcontrollers. Therefore, such a controller can be considered a hardware component, and the devices included within it for implementing various functions can also be considered structures within that hardware component. Alternatively, the devices for implementing various functions can be considered as both software units implementing the method and structures within a hardware component.

[0043] The systems, apparatuses, or units described in the above embodiments can be implemented by computer chips or physical entities, or by products with certain functions. For ease of description, the above apparatuses are described separately as various units based on their functions. Of course, when implementing one or more embodiments of this specification, the functions of each unit can be implemented in one or more software and / or hardware.

[0044] Those skilled in the art will understand that the embodiments of this specification can be provided as methods, systems, or computer program products. Therefore, the embodiments of this specification can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the embodiments of this specification can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0045] This specification is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this specification. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0046] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0047] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0048] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0049] This specification may be described in the general context of computer-executable instructions, such as program units, that are executed by a computer. Generally, program units include routines, programs, objects, components, data structures, etc., that perform a specific task or implement a specific abstract data type. This specification may also be practiced in distributed computing environments, where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program units may reside in local and remote computer storage media, including storage devices.

[0050] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0051] The above description is merely an embodiment of this specification and is not intended to limit the scope of one or more embodiments of this specification. Various modifications and variations can be made to one or more embodiments of this specification by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of one or more embodiments of this specification should be included within the scope of the claims of one or more embodiments of this specification.

Claims

1. A three-dimensional high-frequency ultrasonic ophthalmic examination apparatus, characterized by: The device comprises a mechanical arm, an ultrasonic probe and a main machine, and the ultrasonic probe is clamped at the end of the mechanical arm. The main machine is used for excitation of the ultrasonic probe, collection of echo signals, position control of a micro motor inside the ultrasonic probe, and signal processing and image reconstruction. In the dragging mode, the mechanical arm follows to adjust the position of the ultrasonic probe; in the imaging mode, the mechanical arm locks the joint to keep the position of the ultrasonic probe unchanged. During scanning, the main machine sends a trigger signal to the ultrasonic probe to make the ultrasonic probe rotate and scan, record the real-time angle of the micro motor, and at the same time, the ultrasonic probe emits an acoustic beam and records echo signals until the whole scanning process is completed.

2. A three-dimensional high frequency ultrasonic ophthalmic examination apparatus as claimed in claim 1, characterized in that: The ultrasonic probe comprises an external probe shell and an internal probe assembly, and the probe assembly comprises, in order from bottom to top, an ultrasonic probe body, a probe clamp, a lower bearing, a shaft coupling, a micro motor, a wire card, an upper bearing and a bus cable. The probe shell is internally provided with a first annular groove and a second annular groove and a crossbeam, and a shaft structure is arranged at the top center of the probe shell for connecting the mechanical arm. The bus cable is used for connecting the ultrasonic probe and the main machine, and comprises an ultrasonic probe cable and a motor cable, the ultrasonic probe cable provides power and signal transmission for the ultrasonic probe body, and the motor cable provides power for the micro motor, controls the movement of the micro motor and returns real-time position signals. The probe clamp is in the shape of a cylinder as a whole, has an outward eave at the upper part, has a square opening inside for adapting to the head of the ultrasonic probe body, is used for realizing circumferential and axial positioning by cooperating with the inner ring of the lower bearing respectively, and fixes the ultrasonic probe body. The lower bearing is fixed in the first annular groove of the probe shell. The micro motor is fixed on the crossbeam of the probe shell, and the motor cable is located at the top center. The shaft coupling connects the output shaft of the micro motor and the probe upper shaft, is used for transmitting power, compensating for deviation, damping and overload protection. The wire card is in the shape of a cylinder as a whole, has an outward eave at the upper part and the lower part, has a circular opening inside for adapting to the bus cable, is used for realizing circumferential and axial positioning by cooperating with the inner ring of the upper bearing respectively, and fixes the bus cable. The upper bearing is fixed in the second annular groove of the probe shell.

3. A three-dimensional high frequency ultrasonic ophthalmic examination apparatus as claimed in claim 2, characterized in that The ultrasonic probe cable comprises a first sub-cable and a second sub-cable, and the first sub-cable and the second sub-cable adopt two-side symmetrical wire-out, which is used for balancing the cable stress caused by rotation.

4. The three-dimensional high-frequency ultrasonic ophthalmic examination device according to claim 2, wherein: The ultrasonic probe body is a high-frequency linear array ultrasonic probe; The middle part of the probe shell is in the shape of a cylinder, and the two ends are gradually narrowed; The length of the wire card is greater than the thickness of the upper bearing.

5. A three-dimensional high frequency ultrasonic ophthalmic examination apparatus as claimed in claim 2, characterized in that: Further comprising an acoustic coupling medium module, which comprises an eye cup and a water bag; The eye cup is used for containing a sterile liquid coupling agent, and is composed of an upper cup body and a bottom contact ring, wherein the upper cup body is used for fixing the probe shell; The water bag is used for containing a liquid coupling agent, and is composed of an upper connecting ring and a bottom bag body.

6. A three-dimensional high frequency ultrasonic ophthalmic examination apparatus as claimed in claim 1, characterized in that: Further comprising a display screen, an operation keyboard and mouse, and a printer. The device is arranged on a trolley, the trolley adopts a three-layer structure, the upper layer is provided with a display screen, an operation keyboard and a mouse and a mechanical arm, the middle layer is provided with a main machine, and the lower layer is provided with a printer for outputting the examination results of the patient; The bottom of the trolley is provided with a brake universal caster for moving and fixing; The device is provided with an emergency stop button for stopping the work of the system when an accident occurs.

7. A three-dimensional high-frequency ultrasonic ophthalmic examination method applied to the device according to any one of claims 1 to 6, characterized in that, The method comprises the following steps: Start three-dimensional scanning, control the micro motor to drive the ultrasonic probe to rotate relative to the main shaft, and perform zero reset; During the scanning process, a trigger signal is sent to the ultrasonic probe, the real-time angle is recorded, and at the same time, the ultrasonic probe emits a sound beam and records the echo signal until the whole scanning process is completed; After the scanning is completed, a three-dimensional model is reconstructed according to the angle signal and the echo signal.

8. A three-dimensional high frequency ultrasonic ophthalmic examination method as claimed in claim 7, characterized in that, The step of reconstructing a three-dimensional model according to the angle signal and the echo signal comprises: Cleaning and standardizing the original image sequence, including image filtering, calibration and alignment; According to the angle signal, the pixel points of each frame of image are subjected to coordinate transformation, so that each pixel point in the original two-dimensional image is assigned a three-dimensional space coordinate; A regular three-dimensional cubic grid containing all data points is defined in the world coordinate system, and the gray value of each voxel is calculated by an interpolation algorithm; A three-dimensional filter is applied to the whole body data to further suppress noise and make the data smoother, and visualization rendering is performed.

9. A computer device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the computer program to realize the steps of the method according to any one of claims 7-8.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to realize the steps of the method according to any one of claims 7-8.

Images