An ultrasonic probe surface pressure detection device

Abstract

The present invention relates to the technical field of ultrasonic detection, and discloses an ultrasonic probe surface pressure detection device, which includes a depth camera, a computer, a robotic arm, and an ultrasonic probe provided with a pressure detection mechanism. The depth camera is used to establish a three-dimensional model of the part to be inspected. According to the three-dimensional model of the part to be inspected, the robotic arm automatically positions the ultrasonic probe to the part to be inspected. The pressure detection mechanism is used to feedback pressure to adjust the pressing position, direction, angle, and strength of the ultrasonic probe. The pressure detection mechanism includes a thin film pressure sensor arranged at the detection end of the ultrasonic probe. The thin film pressure sensors are embedded and fixed at both sides of the detection end of the ultrasonic probe at equal intervals. The thin film pressure sensors are connected to a control chip through lead wires. This device establishes a pressure model on the computer, marks unqualified points, and automatically adjusts the pressing strength and direction of the ultrasonic probe until the pressure value meets the specifications, improving the reliability and consistency of ultrasonic examination.

Description

Technical Field

[0001] The present invention relates to the technical field of ultrasonic detection, and particularly to an ultrasonic probe surface pressure detection device. Background Art

[0002] When performing an examination with an existing handheld ultrasonic scanner, image data is mainly collected by a physician holding the probe and data analysis is carried out. There are many technical problems. Research shows that the morphology of ultrasonic echo signals is closely related to the pressure exerted by the operator on the probe. Due to the large differences in operating experience among different technicians and different pressures applied to the probe, not only the coupling effect between the ultrasonic probe and the surface of the human body part to be examined is affected, but also the amplitudes of the collected signals vary greatly, resulting in errors in ultrasonic detection results and reducing the consistency and reliability of evaluation results. Excessive pressing intensity of the ultrasonic probe will also cause varying degrees of wear of the probe.

[0003] In addition, everyone's body shape and the size and shape of organs are not the same, and the ultrasonic probe cannot be adjusted according to different curves of the human body. Currently, in ultrasonic examinations, mainly professional physicians hold the probe to examine the part to be examined, which is difficult to adapt to various body shapes, resulting in scanning blind spots and missed diagnoses.

[0004] Therefore, a scanning device that can adaptively adjust the scanning trajectory and probe angle according to different body shapes of different people is needed to ensure a comprehensive examination of the part to be examined and eliminate missed diagnoses. Summary of the Invention

[0005] The purpose of the present invention is to solve the disadvantages existing in the prior art, and a kind of ultrasonic probe surface pressure detection device is proposed.

[0006] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0007] An ultrasonic probe surface pressure detection device includes a depth camera, a computer, a robotic arm, and an ultrasonic probe provided with a pressure detection mechanism. The depth camera is used to establish a three-dimensional model of the part to be examined. According to the three-dimensional model of the part to be examined, the robotic arm automatically positions the ultrasonic probe to the part to be examined. The pressure detection mechanism is used to feedback pressure to adjust the pressing position, direction, angle, and strength of the ultrasonic probe;

[0008] The pressure detection mechanism includes a thin film pressure sensor arranged at the detection end of the ultrasonic probe. The number of thin film pressure sensors is 6 to 16. The thin film pressure sensors are equally spaced and embedded and fixed on both sides of the detection end of the ultrasonic probe. The thin film pressure sensors are connected to a control chip through lead wires, and the control chip is fixed inside the handle of the ultrasonic probe.

[0009] Preferably, the computer is used to construct a system development environment, process the depth stream, color stream, and pressure data uploaded by the depth camera and the control chip, and establish a deformation model. A three-dimensional spatial model is established through the depth stream and the color stream to control the automatic positioning of the ultrasonic probe to the part to be examined. A pressure deformation model is established through pressure feedback, and various standard inspection parameters are compared to mark the pressure sites that do not meet the requirements. The computer will adjust the position, angle, and pressing force of the ultrasonic probe through the robotic arm.

[0010] Preferably, the resistance of the thin-film pressure sensor has a power function relationship with the pressure, and the reciprocal of the resistance has an approximately linear relationship with the pressure.

[0011] Preferably, the control chip wirelessly transmits the pressure data to the computer via WIFI.

[0012] Preferably, a power supply module is further provided inside the pressure detection mechanism, and the power supply module adopts an independent power supply and wireless charging power supply mode.

[0013] Preferably, the computer establishes a deformation model of the ultrasonic probe and the part to be examined based on the pressure data uploaded by the control chip.

[0014] Preferably, the computer marks the pressure sites that do not meet the requirements and displays the pressure sites that do not meet the requirements on the screen.

[0015] Preferably, it further includes a bed board. A fixing rod is provided directly above the bed board. A depth camera is provided at the lower end of the fixing rod. Two corresponding electric telescopic rods are fixedly provided on the side wall of the fixing rod. The electric telescopic rods are inclined, and the telescopic ends of the electric telescopic rods are fixedly installed with depth cameras.

[0016] Preferably, a heating tape is further embedded in the middle of the detection end of the ultrasonic probe.

[0017] The beneficial effects of the present invention are as follows: The device of the present invention establishes a three-dimensional model of the human body through a depth camera, and the scanning probe automatically matches the standard pressure values of each part of the human body according to the part to be examined. The robotic arm automatically controls the positioning of the ultrasonic probe to the part to be examined. At the same time, a thin-film pressure sensor is provided on the surface of the ultrasonic probe. The thin-film pressure sensor real-time collects the pressure value and uploads it to the computer via the control chip. The computer establishes a three-dimensional reconstruction system. According to the pressure feedback, a pressure model is established on the computer, the unqualified sites are marked, and the pressing force and direction of the ultrasonic probe are automatically adjusted until the pressure value meets the specifications, improving the reliability and consistency of ultrasonic examinations. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a working schematic diagram of an ultrasonic probe surface pressure detection device proposed by the present invention;

[0019] Figure 2Schematic front view structure of the ultrasonic probe of an ultrasonic probe surface pressure detection device proposed by the present invention;

[0020] Figure 3 Schematic bottom view structure of the ultrasonic probe of an ultrasonic probe surface pressure detection device proposed by the present invention;

[0021] Figure 4 Schematic structure of the bed board and the depth camera of an ultrasonic probe surface pressure detection device proposed by the present invention;

[0022] Figure 5 Flowchart of the depth camera of an ultrasonic probe surface pressure detection device proposed by the present invention for obtaining a depth image;

[0023] Figure 6 Process diagram of three-dimensional human body modeling of an ultrasonic probe surface pressure detection device proposed by the present invention;

[0024] Figure 7 Structure diagram of the three-dimensional human body reconstruction system of an ultrasonic probe surface pressure detection device proposed by the present invention.

[0025] In the figure: 1 bed board, 2 lead wire, 3 ultrasonic probe, 4 detection end, 5 thin-film pressure sensor, 6 control chip, 7 micro battery, 8 heating tape, 9 fixing rod, 10 depth camera, 11 electric telescopic rod. Detailed implementation manners

[0026] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments.

[0027] Refer to Figure 1-7 , an ultrasonic probe surface pressure detection device, including a depth camera 10, a computer, a robotic arm, and an ultrasonic probe 3 provided with a pressure detection mechanism. The depth camera 10 is used to establish a three-dimensional model of the part to be examined. According to the three-dimensional model of the part to be examined, the robotic arm automatically positions the ultrasonic probe 3 to the part to be examined. The pressure detection mechanism is used to feedback pressure to adjust the pressing position, direction, angle, and strength of the ultrasonic probe 3;

[0028] The pressure detection mechanism includes thin-film pressure sensors 5 arranged at the detection end of the ultrasonic probe. The number of thin-film pressure sensors 5 is 6 to 16. The thin-film pressure sensors 5 are evenly embedded and fixed on both sides of the detection end 4 of the ultrasonic probe 3. The thin-film pressure sensors 5 are connected to the control chip 6 through lead wires 2. The control chip 6 is fixed inside the handle of the ultrasonic probe 2.

[0029] Furthermore, the computer is used to construct a system development environment, process the depth stream, color stream, and pressure data uploaded by the depth camera 10 and the control chip 6, and establish a deformation model. A three-dimensional spatial model is established through the depth stream and color stream to control the automatic positioning of the ultrasonic probe 3 to the part to be examined. A pressure deformation model is established through pressure feedback, and various standard inspection parameters are compared to mark the pressure sites that do not meet the requirements. The computer will adjust the position, angle, and pressing force of the ultrasonic probe 2 through the robotic arm.

[0030] Furthermore, the control chip 6 wirelessly transmits the pressure data to the computer via WIFI.

[0031] Furthermore, a power supply module is also provided inside the pressure detection mechanism, and the power supply module adopts an independent power supply and wireless charging power supply mode.

[0032] Furthermore, the computer establishes a deformation model of the ultrasonic probe and the part to be examined based on the pressure data uploaded by the control chip 6.

[0033] Furthermore, the computer marks the pressure sites that do not meet the requirements and displays the pressure sites that do not meet the requirements on the screen.

[0034] Furthermore, it also includes a bed board 1. A fixing rod 9 is provided directly above the bed board 1. A depth camera 10 is provided at the lower end of the fixing rod 9. Two corresponding electric telescopic rods 11 are fixedly provided on the side wall of the fixing rod 9. The electric telescopic rods 11 are inclined, and the telescopic ends of the electric telescopic rods 11 are fixedly installed with the depth camera 10.

[0035] Furthermore, a heating tape 8 is also embedded in the middle of the detection end of the ultrasonic probe 2. The heating tape 8 is used to preheat the ultrasonic probe 2 to improve the comfort of the ultrasonic probe 2.

[0036] Considering the differences in different ultrasonic probe models, for the convenience of experimental research, the most commonly used sector ultrasonic probe is selected as the design object in this embodiment. The thin-film pressure sensor is designed and developed according to the outer shape structure, size of the sector probe, and the number and positions of pressure sensors required to measure the pressure on the surface of the sector probe during ultrasonic examination.

[0037] When measuring the surface pressure of the ultrasonic probe 2, considering that during ultrasonic examination, the presence of air or other obscuring substances between the ultrasonic probe and the patient's skin will increase ultrasonic reflection and hinder the transmission of ultrasonic waves into the human body. Therefore, the number and position of sensors affect the acquisition of a clear ultrasonic image with high quality and no loss. In this embodiment, a thin-film pressure sensor 5 with inner and outer symmetry and 5 pairs of symmetric sites (a total of 10 sites) is developed. The resistance of this type of sensor has a power function relationship with pressure, and the reciprocal of the resistance has an approximately linear relationship with pressure. Through a resistance voltage division circuit, an electrical signal with a certain relationship with voltage can be output.

[0038] The depth camera 10 has the function of obtaining a depth image, which represents the distance from a spatial point to the camera. The depth camera using infrared imaging technology has the advantages of short calculation time and real-time image output. Compared with traditional scanning devices, the depth camera has a lower price, a smaller volume, and is more convenient to operate.

[0039] In this embodiment, the application of the depth camera 10 in three-dimensional human body reconstruction is used. Multiple depth cameras are used to simultaneously capture depth images. The data captured by multiple devices are transformed and fused to quickly reconstruct a three-dimensional human body model. According to the actual situation and system requirements, the process of three-dimensional reconstruction using the depth camera is divided into six steps: depth image acquisition, data preprocessing, point cloud conversion, point cloud registration, point cloud fusion, and surface generation.

[0040] To achieve three-dimensional reconstruction of the human body, a three-dimensional reconstruction system needs to be designed to perform three-dimensional reconstruction of the human body through multiple depth cameras, obtain a three-dimensional human body model, and calculate key human body data. The main work of this system is to obtain the accurate position coordinates of multiple depth cameras, obtain the depth data of multiple depth cameras and perform accurate stitching, so as to obtain complete three-dimensional human body data and establish a three-dimensional human body model.

[0041] The work of the three-dimensional reconstruction system is mainly divided into four processes: depth camera calibration, acquisition and conversion of depth camera depth data, fusion of multiple groups of point cloud data, and three-dimensional human body modeling.

[0042] Depth camera calibration: Using the method of camera calibration, multiple depth cameras are calibrated to obtain their external postures, and the relative positions of multiple devices are calculated through calculation, providing basic registration data for subsequent point cloud fusion.

[0043] Acquisition and conversion of depth data: Using the depth data stream of multiple depth cameras to obtain the depth data of the human body surface, improving its accuracy by using the method of multi-frame fusion, and at the same time using filtering for denoising processing. The depth data is converted into point cloud data through the program interface provided by Microsoft, providing source data for subsequent fusion modeling.

[0044] Multi-group Point Cloud Data Fusion: The point cloud data obtained by scanning different positions of the human body cannot be directly fused because they are in their respective camera coordinate systems. We need to perform a spatial transformation on the point cloud data in different coordinate systems, that is, point cloud registration, to obtain the point cloud of a complete human body model. The transformation of the spatial position is represented by a transformation matrix. This module first performs a rough fusion on it based on the results of the previous camera calibration, and then performs precise registration on it through the ICP (Iterative Closest Point) algorithm.

[0045] Three-dimensional Human Body Modeling: Through the previous point cloud fusion, the three-dimensional point cloud data of the human body has been obtained. This module performs surface reconstruction on these point cloud data.

[0046] To facilitate the ultrasonic probe in the complex environment of the examination process, a manipulator is designed. This manipulator is a six-dimensional controllable manipulator that can move up, down, left, and right and can also perform angle adjustment.

[0047] To facilitate the transmission of pressure feedback data, a control chip (ESP8266 is used as the control chip in this embodiment) is utilized. This chip has an analog-to-digital converter that can amplify and process the input electrical signal and convert it into a digital signal, and has a wireless transmission function. The resistance signal of each pressure sensor site is converted into an analog voltage signal through a voltage division circuit, and after being processed by the control chip, it is displayed as a pressure signal of a corresponding magnitude. Through the wireless transmission function of the control chip, the pressure at each site on the surface of the ultrasonic probe and the examined part of the human body is processed and uploaded to the computer for processing, and a model is built based on the pressure at each site. And the deformation model is displayed through a monitoring display screen, and the pressure values measured at each site of the deformation model are also displayed.

[0048] Experienced technicians are recruited to formulate relatively reasonable pressing pressures for the ultrasonic examination of various parts of the human body with a handheld probe. The standard pressing value for each site is set as a, and the reasonable pressure floating range is b%. The pressure at each site within (a ± b%) is a reasonable pressing force for the handheld probe. It should be noted that there is currently no relevant standard stipulating the pressing pressure during detection; if relevant regulations are promulgated in the future, a and b can be reset to adjust the pressure range.

[0049] When performing an ultrasound examination using the sector probe for ultrasound detection that establishes a deformation model through pressure detection according to the present invention, technicians can observe the position, direction, and pressing force of the probe by observing the three-dimensional human model on the computer display screen; and establish a deformation model through the pressure feedback of the probe to determine whether the pressing force at each point is within the agreed reasonable range value. If it is not within the reasonable range, the manipulator will control the scanning probe to timely adjust the pressing force, position, and angle to keep the contact pressure within the allowable range during the test, avoiding measurement deviations caused by out-of-control contact pressure. It provides unified examination parameters for different ultrasound examinations, ensures the repeatability of ultrasound examinations, and brings convenience for subsequent evaluation of treatment efficacy, disease course progress, etc.

[0050] Considering the special environment of the examination room, an independent power supply + wireless charging power supply mode is adopted. The independent power supply voltage uses a 3.7V, 2000mAh micro battery 7. The size of the micro battery 7 is 8.5×34×65mm, the full charge voltage is 4.2V, the discharge termination voltage is 2.75V, and the maximum charge and discharge currents are both 1C, with a charge and discharge protection circuit. Using a boost and voltage stabilization module, the output voltage is adjusted to be stable at 5V. An ultra-mai electronics factory wireless charging transmitter and receiver module is adopted, which conforms to the Qi wireless charging standard. The wireless charging transmitter is connected to the power supply, and the wireless charging receiver is connected to the lithium battery to charge the lithium battery, with a charging power of 5W (5V, 1A).

[0051] For the convenience of experiments, the film pressure sensors 5 are evenly spaced and fixed on the left and right sides of the ultrasound probe 2 by mold processing. The film pressure sensors 5 and the control chip 6 are connected by lead wires 2. In this embodiment, the lead wires 2 are made of Dupont wires.

[0052] First, a depth camera (in this design, a Microsoft Kinect depth camera is used, and other depth cameras with the same function can also be applied in this design;) takes pictures, as Figure 4 shown, which is the layout position diagram of the depth camera 10, and collects data, as Figure 7 shown, which is the flow chart of the Kinect obtaining a depth image. Three-dimensional reconstruction is performed on the computer. The manipulator will operate the probe to focus on the specified part to be examined at the computer end for a standardized examination. At the same time, a pressure sensor is designed on the surface of the probe. A deformation model is established on the computer through pressure feedback and compared with the standardized data. If it is not within the range, the computer will issue an instruction to notify the manipulator to adjust the position and angle of the probe

[0053] As Figure 2As shown in the figure, it is a pressure ultrasound probe that can establish a deformation model in a computer through pressure feedback during the detection process, adjust the probe state through the deformation model, and can adjust the position, angle, and pressing force of the automatic scanning ultrasound probe through a robotic arm. A thin-film pressure sensor 5 is installed at the detection end 4 of the probe. The thin-film pressure sensor 5 is integrally fixed to the detection end 4 of the ultrasound probe 3. The thin-film pressure sensor 5 is used to measure the contact pressure between the probe contact surface and the surface of the human body part to be examined. The thin-film pressure sensor 5 is connected to the control chip 6 through a lead wire 2. The control chip 6 is fixed to the handle of the ultrasound probe 3 by mold processing. At the same time, a micro battery 7 is fixed to the handle of the probe 3 to supply power to the control chip 6. The control chip 6 is equipped with wireless data transmission using WIFI to upload the detected pressure data to the computer. The pressure value of the thin-film pressure sensor 5 can be displayed through the computer, and a deformation model can be established through pressure feedback and compared with the standard values of each site of the human three-dimensional model. The cloud computer will automatically calculate and judge whether the pressure value is within the specified reasonable range. If it does not meet the standard value range, the site will be marked on the computer side, the pressure value of this point will be displayed, and an instruction will be sent to the robotic arm through the computer to adjust the pressing force and pressing direction of the ultrasound probe 3 to keep the contact pressure within the allowable range during the test, avoiding measurement deviation caused by out-of-control contact pressure. In addition, the scattered Dupont wires connecting the thin-film pressure sensor 5 and the control chip 6 along the probe handle are bundled on the handle of the ultrasound probe 3 with a cable tie.

[0054] The robotic arm is a six-dimensional controllable robotic arm that can precisely control the up, down, left, and right movement of the ultrasound probe 3 through two steering wheels, and the 360° disc can adjust the angle of the probe. In the scanning application scenario composed of this robotic arm and the depth camera, the depth camera 10 is used to photograph the human body to obtain data, and a three-dimensional model is obtained after processing. The ultrasound probe 3 is installed on a six-dimensional controllable robotic arm. The computer 1 controls the robotic arm to automatically locate to the part to be examined according to the three-dimensional shape of the human body obtained by the depth camera 10 for scanning to obtain ultrasound images.

[0055] As Figure 4 , in order to quickly obtain depth data in this design and reduce the shaking error of the human body caused by too long scanning time, a method of using 3 Kinect depth cameras 10 to simultaneously obtain human depth images is adopted, which not only reduces the data acquisition time, but also reduces the error and improves the accuracy. The 3 Kinect depth cameras 9 simultaneously obtain human body data from three positions: the left front, the right front, and directly above. The main line of sight of each device forms an angle of about 60 degrees, so that the three devices can respectively capture the depth data of different orientations of the human body.

[0056] As Figure 5 , it is the process of three-dimensional human body modeling. Figure 6, is the structure of a three-dimensional human body reconstruction system; the work of the three-dimensional reconstruction system is mainly divided into four processes: depth camera calibration, depth data acquisition and point cloud conversion of the depth camera, fusion of multiple groups of point cloud data, and three-dimensional human body modeling.

[0057] When performing non-destructive ultrasonic testing using the device of the present invention for correcting the pressing posture by establishing a deformation model by detecting the pressure received on the surface of the ultrasonic probe 3. The error in the inspection result caused by the lack of experience of the operator will be reduced. Without the operator, automatic positioning can be performed by visually observing the three-dimensional model established on the computer. The automatic scanning probe will automatically focus on the part to be inspected according to the three-dimensional model, perform precise inspection on the patient, and judge whether the operation is incorrect through pressure feedback. If there is an error, the computer issues an adjustment instruction to control the manipulator to adjust the pressing direction, angle and strength to keep the contact pressure within the allowable range during the test, so as to avoid measurement deviation caused by the out-of-control of the contact pressure.

[0058] As mentioned above, it is only the preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, making equivalent substitutions or changes should be covered by the protection scope of the present invention.

Claims

1. An ultrasonic probe surface pressure detection device, characterized in that It includes a depth camera, a computer, a robotic arm, and an ultrasonic probe provided with a pressure detection mechanism. The depth camera is used to establish a three-dimensional model of the part to be examined. According to the three-dimensional model of the part to be examined, the robotic arm automatically positions the ultrasonic probe to the part to be examined. The pressure detection mechanism is used to feedback pressure to adjust the pressing position, direction, angle, and force of the ultrasonic probe. The pressure detection mechanism includes a thin-film pressure sensor arranged at the detection end of the ultrasonic probe. The number of thin-film pressure sensors is 6 to 16. The thin-film pressure sensors are equally spaced and embedded and fixed on both sides of the detection end of the ultrasonic probe. The thin-film pressure sensors are connected to a control chip through lead wires. The control chip is fixed inside the handle of the ultrasonic probe. The computer is used to build a system development environment, process the depth stream, color stream, and pressure data uploaded by the depth camera and the control chip, and establish a deformation model. The computer controls the ultrasonic probe to automatically position to the part to be examined by establishing a three-dimensional space model through the depth stream and the color stream, establishes a pressure deformation model through pressure feedback, and compares various standard inspection parameters to mark the pressure sites that do not meet the requirements. The computer will adjust the position, angle, and pressing force of the ultrasonic probe through the robotic arm. The computer marks the pressure sites that do not meet the requirements and displays the pressure sites that do not meet the requirements on the display screen. It further includes a bed board. A fixing rod is arranged directly above the bed board. The lower end of the fixing rod is provided with a depth camera. Two corresponding electric telescopic rods are fixedly arranged on the side wall of the fixing rod. The electric telescopic rods are inclined. The telescopic ends of the electric telescopic rods are fixedly installed with a depth camera.

2. The surface pressure detection device for an ultrasonic probe according to claim 1, characterized in that, The resistance of the thin-film pressure sensor has a power function relationship with pressure, and the reciprocal of the resistance has an approximately linear relationship with pressure.

3. The surface pressure detection device for an ultrasonic probe according to claim 2, characterized in that, The control chip wirelessly transmits the pressure data to the computer through WIFI.

4. The surface pressure detection device for an ultrasonic probe according to claim 3, characterized in that, An independent power supply module and a wireless charging power supply mode are also arranged inside the pressure detection mechanism.

5. The surface pressure detection device for an ultrasonic probe according to claim 4, wherein The computer establishes a deformation model of the ultrasonic probe and the part to be examined through the pressure data uploaded by the control chip.

6. The surface pressure detection device for an ultrasonic probe according to claim 1, characterized in that, A heat tracing band is also embedded and installed in the middle of the detection end of the ultrasonic probe.

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