An ultrasonic imaging device, a method for obtaining position information of an ultrasonic probe, and a medium

Abstract

The present application discloses an ultrasonic imaging device, a method for obtaining position information of an ultrasonic probe, and a medium. The device includes: a first positioning device that acquires current position information of the ultrasonic probe of the ultrasonic imaging device based on a first positioning technique; a second positioning device that acquires current position information of the ultrasonic probe based on a second positioning technique; and an ultrasonic host that is connected to both the first positioning device and the second positioning device and is configured to obtain the current position information output by the first positioning device and the current position information output by the second positioning device. This can increase the reliability of the navigation and positioning function of the ultrasonic imaging device. In particular, it can avoid the situation where a single positioning technique causes the positioning function to be unavailable in some inapplicable scenarios, resulting in the inability to use the corresponding ultrasonic imaging function relying on positioning, and even causing problems such as errors in interventional surgery.

Description

Technical Field

[0001] The present application relates to the field of ultrasonic imaging technology, and particularly relates to an ultrasonic imaging device, a method for obtaining position information of an ultrasonic probe, and a medium. Background Art

[0002] As a real-time medical imaging device that causes no relevant harm or damage to the human body, ultrasonic imaging devices have been increasingly used in current medical diagnoses. In some application scenarios, it is necessary to accurately locate the three-dimensional spatial position of each frame of ultrasonic image. For example, in free-arm 3D reconstruction, in navigation intervention surgery under ultrasonic guidance, and in ultrasonic imaging and other multi-modal fusion registration imaging.

[0003] Generally, to accurately locate the three-dimensional spatial position of each frame of ultrasonic image, a positioning sensor needs to be placed on the ultrasonic probe. For example, an optical positioning sensor based on infrared or laser. However, the positioning sensors in current ultrasonic probes are used separately, and each type of sensor has its own limitations. For example, it is difficult to solve the problem of path occlusion caused by the operator or other devices between the light source and the sensor based on an optical positioning sensor. That is, once the operator's limb or other device occludes the direct path between the light source and the sensor, the optical positioning will be incorrect or the accuracy will seriously fail, resulting in the serious failure or error of the position information of the finally located ultrasonic probe, affecting the ongoing medical diagnosis operation. Summary of the Invention

[0004] In view of this, the purpose of the present application is to provide an ultrasonic imaging device, a method for obtaining position information of an ultrasonic probe, and a medium, which can increase the reliability of the navigation and positioning function of the ultrasonic imaging device. The specific solutions are as follows:

[0005] In a first aspect, the present application discloses an ultrasonic imaging device, including:

[0006] A first positioning device that collects the current position information of the ultrasonic probe of the ultrasonic imaging device based on a first positioning technology;

[0007] A second positioning device that collects the current position information of the ultrasonic probe based on a second positioning technology;

[0008] An ultrasonic host that is connected to both the first positioning device and the second positioning device and is used to obtain the current position information output by the first positioning device and the current position information output by the second positioning device.

[0009] Optionally, the first positioning device is a magnetic positioning device, and the second positioning device is an inertial positioning device;

[0010] Alternatively, the first positioning device is a magnetic positioning device, and the second positioning device is an optical positioning device;

[0011] Alternatively, the first positioning device is an optical positioning device, and the second positioning device is an inertial positioning device.

[0012] Optionally, the ultrasonic imaging device further includes:

[0013] A third positioning device that acquires the current position information of the ultrasonic probe based on a third positioning technology, wherein the third positioning device is connected to the ultrasonic host.

[0014] Optionally, both the first positioning device and the second positioning device are integrated inside the ultrasonic probe, and both the first positioning device and the second positioning device are connected to the ultrasonic host through a first cable, where the first cable is the connection cable between the ultrasonic probe and the ultrasonic host.

[0015] Optionally, both the first positioning device and the second positioning device are fixed to the ultrasonic probe through a fixing fixture, and the first positioning device is connected to the ultrasonic host through a second cable, and the second positioning device is connected to the ultrasonic host through a third cable.

[0016] Optionally, the first positioning device and the second positioning device are integrated inside a positioning device, the positioning device is fixed to the ultrasonic probe through a fixing fixture, and both the first positioning device and the second positioning device are connected to the ultrasonic host through a wireless communication device inside the positioning device.

[0017] Optionally, the first positioning device is integrated inside the ultrasonic probe, and the first positioning device is connected to the ultrasonic host through a first cable, where the first cable is the connection cable between the ultrasonic probe and the ultrasonic host;

[0018] The second positioning device is fixed to the ultrasonic probe through a fixing fixture, and the second positioning device is connected to the ultrasonic host through a third cable.

[0019] In a second aspect, the present application discloses a method for obtaining the position information of an ultrasonic probe, which is applied to an ultrasonic imaging device and includes:

[0020] The first positioning device of the ultrasonic imaging device acquires the current position information of the ultrasonic probe of the ultrasonic imaging device based on a first positioning technology to obtain first position information;

[0021] The second positioning device of the ultrasonic imaging device acquires the current position information of the ultrasonic probe based on the second positioning technique, and obtains the second position information;

[0022] The ultrasonic host of the ultrasonic imaging device acquires the first position information and the second position information.

[0023] Optionally, after the ultrasonic host of the ultrasonic imaging device acquires the first position information and the second position information, it further includes:

[0024] Determine the comprehensive position information of the ultrasonic probe according to the first position information and the second position information.

[0025] Optionally, the determining the comprehensive position information of the ultrasonic probe according to the first position information and the second position information includes:

[0026] Determine the first credibility index of the first position information and the second credibility index of the second position information;

[0027] Determine the comprehensive position information of the ultrasonic probe according to the first position information, the second position information, the first credibility index and the second credibility index.

[0028] Optionally, the method for obtaining the position information of the ultrasonic probe further includes:

[0029] The third positioning device of the ultrasonic imaging device acquires the current position information of the ultrasonic probe of the ultrasonic imaging device based on the third positioning technique, and obtains the third position information;

[0030] Correspondingly, the determining the comprehensive position information of the ultrasonic probe according to the first position information and the second position information includes:

[0031] Determine the first credibility index of the first position information, the second credibility index of the second position information and the third credibility index of the third position information;

[0032] Determine the comprehensive position information of the ultrasonic probe according to the first position information, the second position information, the third position information, the first credibility index, the second credibility index and the third credibility index.

[0033] Optionally, determining the credibility index of the position information includes:

[0034] Take the position information and the corresponding historical position information as a position information sequence, where the position information is the first position information, the second position information, or the third position information, and the historical position information is the position information uploaded by the corresponding positioning device obtained by the ultrasound host before obtaining the position information;

[0035] Determine the standard deviation of the position information sequence;

[0036] Take the reciprocal of the standard deviation of the position information sequence as the credibility index of the position information.

[0037] Optionally, before taking the reciprocal of the standard deviation of the position information sequence as the credibility index of the position information, it further includes:

[0038] Judge whether the reciprocal of the standard deviation of the position information sequence is less than a preset credibility threshold;

[0039] If not, take the reciprocal of the standard deviation of the position information sequence as the credibility index of the position information;

[0040] If so, discard this position information.

[0041] Optionally, the determining the comprehensive position information of the ultrasound probe according to the first position information, the second position information, the first credibility index, and the second credibility index includes:

[0042] Determine the comprehensive position information of the ultrasound probe according to the first position information, the second position information, the first credibility index, the second credibility index, and a preset operation formula, where the preset operation formula is:

[0043]

[0044] Among them, lct represents the comprehensive position information, lct1 represents the first position information, k1 represents the first credibility index, lct2 represents the second position information, and k2 represents the second credibility index.

[0045] In a third aspect, the present application discloses a computer-readable storage medium for storing a computer program, where the computer program, when executed by a processor, implements the method for obtaining the position information of the ultrasound probe disclosed above.

[0046] It can be seen that the present application discloses an ultrasonic imaging device, including: a first positioning device that acquires the current position information of the ultrasonic probe of the ultrasonic imaging device based on a first positioning technique; a second positioning device that acquires the current position information of the ultrasonic probe based on a second positioning technique; and an ultrasonic host that is connected to both the first positioning device and the second positioning device and is used to obtain the current position information output by the first positioning device and the current position information output by the second positioning device. That is to say, the ultrasonic imaging device disclosed in the present application includes a first positioning device that acquires the current position information of the ultrasonic probe of the ultrasonic imaging device based on a first positioning technique, and a second positioning device that acquires the current position information of the ultrasonic probe based on a second positioning technique. In this way, the current position information of the ultrasonic probe can be obtained based on different positioning techniques. When the accuracy of the current position information of the ultrasonic probe obtained by one positioning technique is insufficient, the current position information of the ultrasonic probe obtained by another positioning technique can also be used, avoiding the problem that when only one positioning technique is used to obtain the current position information of the ultrasonic probe, the accuracy of this positioning technique is reduced due to interference, thereby affecting related operations. This can increase the reliability of the navigation and positioning function of the ultrasonic imaging device. In particular, it can avoid the problem that a single positioning technique causes the positioning function to be unavailable in some inapplicable scenarios, resulting in the inability to use the corresponding ultrasonic imaging function relying on positioning, and even causing errors in interventional surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the provided drawings.

[0048] Figure 1 Structural schematic diagram of an ultrasonic imaging device disclosed in the present application;

[0049] Figure 2 Structural schematic diagram of a specific ultrasonic imaging device disclosed in the present application;

[0050] Figure 3 Structural schematic diagram of a specific ultrasonic imaging device disclosed in the present application;

[0051] Figure 4 Structural schematic diagram of a specific ultrasonic imaging device disclosed in the present application;

[0052] Figure 5 Structural schematic diagram of a specific ultrasonic imaging device disclosed in the present application;

[0053] Figure 6 Schematic diagram of a specific ultrasonic imaging device structure disclosed in this application;

[0054] Figure 7 Flowchart of a method for obtaining position information of an ultrasonic probe disclosed in this application;

[0055] Figure 8 Flowchart of a specific method for obtaining position information of an ultrasonic probe disclosed in this application. Detailed implementation manners

[0056] Next, the technical solutions in the embodiments of this application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of this application.

[0057] Currently, the positioning sensors in ultrasonic probes are used separately, and each type of sensor has its own limitations. For example, it is difficult to solve the problem of path occlusion caused by the operator or other devices between the light source and the sensor based on an optical positioning sensor. That is, once the operator's limb or other device occludes the direct path between the light source and the sensor, the optical positioning will be incorrect or the accuracy will seriously fail, resulting in the serious failure or error of the position information of the ultrasonic probe finally located, affecting the ongoing medical diagnosis operation. In view of this, this application proposes an ultrasonic imaging device that can increase the reliability of the navigation and positioning function of the ultrasonic imaging device. In particular, it can avoid the inapplicability of a single positioning technology in some scenarios, resulting in the inavailability of the positioning function, and even causing problems such as errors in interventional surgery for the corresponding ultrasonic imaging function that relies on positioning.

[0058] See Figure 1 As shown, an ultrasonic imaging device disclosed in an embodiment of this application includes:

[0059] A first positioning device 11 that collects the current position information of the ultrasonic probe of the ultrasonic imaging device based on a first positioning technology;

[0060] A second positioning device 12 that collects the current position information of the ultrasonic probe based on a second positioning technology;

[0061] An ultrasonic host 13 that is connected to both the first positioning device and the second positioning device and is used to obtain the current position information output by the first positioning device and the current position information output by the second positioning device.

[0062] In a specific implementation process, the ultrasonic imaging device includes a first positioning device 11 and a second positioning device 12. Among them, the first positioning device 11 acquires the current position information of the ultrasonic probe of the ultrasonic imaging device based on a first positioning technique, and the second positioning device acquires the current position information of the ultrasonic probe of the ultrasonic imaging device based on a second positioning technique, and the first positioning technique and the second positioning technique are different.

[0063] Correspondingly, the ultrasonic imaging device further includes an ultrasonic host connected to both the first positioning device and the second positioning device, for obtaining the current position information output by the first positioning device and the current position information output by the second positioning device.

[0064] After obtaining the current position information output by the first positioning device and the current position information output by the second positioning device, it is also possible to visually display the current position information output by the first positioning device and the current position information output by the second positioning device, so that relevant operators can determine the position information of the ultrasonic probe according to the current positioning information output by the first positioning device and the current positioning information output by the second positioning device.

[0065] In a specific implementation process, the first positioning device may be a magnetic positioning device, and the second positioning device is an inertial positioning device; or, the first positioning device is a magnetic positioning device, and the second positioning device is an optical positioning device; or, the first positioning device is an optical positioning device, and the second positioning device is an inertial positioning device. The magnetic positioning device may include a magnetic positioning device that uses the method of transmitting and receiving low-frequency pulsed magnetic fields; the inertial positioning device includes any one of an accelerometer and a gyroscope (angular velocity meter), and combinations thereof, etc.; the optical positioning device may be a device that performs positioning by transmitting and receiving infrared or laser.

[0066] In a specific implementation process, the ultrasonic imaging device may further include a third positioning device that acquires the current position information of the ultrasonic probe of the ultrasonic imaging device based on a third positioning technique, where the third positioning device is connected to the ultrasonic host.

[0067] That is, as shown in Figure 2 Based on the foregoing first positioning device 11 and second positioning device 12, the ultrasonic imaging device further includes a third positioning device 14 that acquires the current position information of the ultrasonic probe based on a third positioning technique, and the third positioning device 14 is connected to the ultrasonic host 13. In this way, the ultrasonic host can obtain the current position information of the ultrasonic probe obtained based on three different positioning techniques, further increasing the reliability of the navigation and positioning function of the ultrasonic imaging device.

[0068] When the ultrasonic imaging device includes the first positioning device, the second positioning device, and the third positioning device, the first positioning device may be an optical positioning device, the second positioning device may be an inertial positioning device, and the third positioning device may be a magnetic positioning device.

[0069] In a specific embodiment, when the ultrasonic imaging device includes the first positioning device, the second positioning device, and the ultrasonic host, the connection relationship of the ultrasonic imaging device may be as follows: both the first positioning device and the second positioning device are integrated inside the ultrasonic probe, and both the first positioning device and the second positioning device are connected to the ultrasonic host through a first cable, where the first cable is the connection cable between the ultrasonic probe and the ultrasonic host. That is, the connection lines between the first positioning device, the second positioning device, and the ultrasonic host are integrated in the first cable between the ultrasonic probe and the ultrasonic host.

[0070] That is, as shown in Figure 3 Since the ultrasonic host and the ultrasonic probe are originally connected through the first cable, the first positioning device and the second positioning device can be both integrated inside the ultrasonic probe, and the first positioning device and the second positioning device can both be connected to the ultrasonic host through the first cable.

[0071] In another specific embodiment, when the ultrasonic imaging device includes the first positioning device, the second positioning device, and the ultrasonic host, the connection relationship of the ultrasonic imaging device may be as follows: both the first positioning device and the second positioning device are fixed to the ultrasonic probe through fixing jigs, and the first positioning device is connected to the ultrasonic host through a second cable, and the second positioning device is connected to the ultrasonic host through a third cable.

[0072] That is, as shown in Figure 4As shown, the first positioning device and the second positioning device can be parts independent of the ultrasound probe. The first positioning device and the second positioning device are fixed to the ultrasound probe through a fixing fixture. The first positioning device is connected to the ultrasound host through a second cable, and the second positioning device is connected to the ultrasound host through a third cable. In this way, the first positioning device and the second positioning device have high usage flexibility and can be fixed and disassembled according to actual needs. For example, if the magnetic positioning device and the optical positioning device are to be used this time, the magnetic positioning device and the optical positioning device are fixed to the ultrasound probe using the fixing fixture. The magnetic positioning device is connected to the ultrasound host through a cable, and the optical positioning device is connected to the ultrasound host through another cable. When using the ultrasound imaging device next time and the magnetic positioning device and the inertial positioning device are needed, the optical positioning device is removed from the fixing fixture and replaced with the inertial positioning device. The inertial positioning device is connected to the ultrasound host through its corresponding cable.

[0073] In the third specific embodiment, when the ultrasound imaging device includes the first positioning device, the second positioning device, and the ultrasound host, the connection relationship of the ultrasound imaging device can be: the first positioning device and the second positioning device are integrated inside the positioning device. The positioning device is fixed to the ultrasound probe through a fixing fixture, and both the first positioning device and the second positioning device are connected to the ultrasound host through the wireless communication device inside the positioning device.

[0074] That is, as shown in Figure 5 It can be seen that the first positioning device and the second positioning device can be made into a separate positioning device. The positioning device includes a wireless communication device. Both the first positioning device and the second positioning device are connected to the ultrasound host through the wireless communication device. The positioning device is fixed to the ultrasound probe through a fixing fixture. Figure 5 The wireless communication device in it performs wireless communication with the ultrasound host.

[0075] See Figure 6As shown, in the fourth specific embodiment, when the ultrasonic imaging device includes the first positioning device, the second positioning device, and the ultrasonic host, the connection relationship of the ultrasonic imaging device can be as follows: The first positioning device is integrated inside the ultrasonic probe, and the first positioning device is connected to the ultrasonic host through a first cable, where the first cable is the connection cable between the ultrasonic probe and the ultrasonic host; The second positioning device is fixed to the ultrasonic probe through a fixing clamp, and the second positioning device is connected to the ultrasonic host through a third cable. In this way, if the first positioning device has been integrated inside the ultrasonic device, and the second positioning device is a device independent of the ultrasonic probe and is arranged outside the ultrasonic probe, the second device can be directly fixed to the ultrasonic probe through a fixing clamp, and the second positioning device can be connected to the ultrasonic host through a third cable, which can not change the original structure of the ultrasonic imaging device, save costs, and is easy to operate.

[0076] Of course, in the actual implementation process, in addition to the above connection method, the ultrasonic imaging device may also have other connection methods, which are not specifically limited here.

[0077] It can be seen that the present application discloses an ultrasonic imaging device, including: a first positioning device that collects the current position information of the ultrasonic probe of the ultrasonic imaging device based on the first positioning technology; a second positioning device that collects the current position information of the ultrasonic probe based on the second positioning technology; and an ultrasonic host that is connected to both the first positioning device and the second positioning device and is used to obtain the current position information output by the first positioning device and the current position information output by the second positioning device. That is to say, the ultrasonic imaging device disclosed in the present application includes a first positioning device that collects the current position information of the ultrasonic probe of the ultrasonic imaging device based on the first positioning technology, and a second positioning device that collects the current position information of the ultrasonic probe based on the second positioning technology. In this way, the current position information of the ultrasonic probe can be obtained based on different positioning technologies. When the accuracy of the current position information of the ultrasonic probe obtained by one positioning technology is insufficient, the current position information of the ultrasonic probe obtained by another positioning technology can also be used, avoiding the problem that when there is only one positioning technology to obtain the current position information of the ultrasonic probe, the accuracy of this positioning technology is reduced due to interference, thus affecting related operations. In this way, the reliability of the navigation and positioning function of the ultrasonic imaging device can be increased. In particular, it can avoid the situation where a single positioning technology makes the positioning function unavailable in some inapplicable scenarios, resulting in the inability to use the corresponding ultrasonic imaging function relying on positioning, and even causing errors in interventional surgery.

[0078] See Figure 7As shown, an embodiment of the present application discloses a method for obtaining the position information of an ultrasound probe, which is applied to an ultrasound imaging device. The method includes:

[0079] Step S11: The first positioning device of the ultrasound imaging device collects the current position information of the ultrasound probe of the ultrasound imaging device based on the first positioning technique to obtain the first position information.

[0080] Step S12: The second positioning device of the ultrasound imaging device collects the current position information of the ultrasound probe based on the second positioning technique to obtain the second position information.

[0081] Step S13: The ultrasound host of the ultrasound imaging device obtains the first position information and the second position information.

[0082] Specifically, first, the first positioning device of the ultrasound imaging device obtains the current position information of the ultrasound probe. The first positioning device obtains the current position information of the ultrasound probe based on the first positioning technique to obtain the first position information.

[0083] It is also necessary for the second positioning device of the ultrasound imaging device to obtain the current position information of the ultrasound probe. The second positioning device obtains the current position information of the ultrasound probe based on the second positioning technique to obtain the second position information. The first positioning technique is different from the second positioning technique. The relevant content of the first positioning device and the second positioning device can refer to the content disclosed in the foregoing embodiments and will not be elaborated herein.

[0084] The ultrasound host connected to the first positioning device and the second positioning device needs to obtain the first position information and the second position information, and can also perform visual display on the first position information and the second position information.

[0085] As can be seen, the present application discloses a method for obtaining the position information of an ultrasonic probe, including: the first positioning device of the ultrasonic imaging device collects the current position information of the ultrasonic probe of the ultrasonic imaging device based on the first positioning technique to obtain the first position information. Then, the second positioning device of the ultrasonic imaging device collects the current position information of the ultrasonic probe based on the second positioning technique to obtain the second position information. It is also necessary for the ultrasonic host of the ultrasonic imaging device to obtain the first position information and the second position information. That is to say, in the present application, not only can the first positioning device collect the current position information of the ultrasonic probe of the ultrasonic imaging device based on the first positioning technique, but also the second positioning device can collect the current position information of the ultrasonic probe based on the second positioning technique. In this way, the current position information of the ultrasonic probe can be obtained based on different positioning techniques. When the accuracy of the current position information of the ultrasonic probe obtained by one positioning technique is insufficient, the current position information of the ultrasonic probe obtained by another positioning technique can also be used, avoiding the problem that when only one positioning technique is used to obtain the current position information of the ultrasonic probe, the accuracy of this positioning technique is reduced due to interference, thus affecting related operations. This can increase the reliability of the navigation and positioning function of the ultrasonic imaging device. In particular, it can avoid the situation where a single positioning technique makes the positioning function unavailable in some inapplicable scenarios, resulting in the inability to use the corresponding ultrasonic imaging function relying on positioning, and even causing errors in interventional surgery.

[0086] See Figure 8 As shown, the embodiment of the present application discloses a specific method for obtaining the position information of an ultrasonic probe, which is applied to an ultrasonic imaging device. The method includes:

[0087] Step S21: The first positioning device of the ultrasonic imaging device collects the current position information of the ultrasonic probe of the ultrasonic imaging device based on the first positioning technique to obtain the first position information.

[0088] Step S22: The second positioning device of the ultrasonic imaging device collects the current position information of the ultrasonic probe based on the second positioning technique to obtain the second position information.

[0089] Step S23: The ultrasonic host of the ultrasonic imaging device obtains the first position information and the second position information.

[0090] Step S24: Determine the comprehensive position information of the ultrasonic probe according to the first position information and the second position information.

[0091] The specific implementation processes of steps S21 to S23 can refer to the content disclosed in the foregoing embodiments and will not be elaborated herein.

[0092] In a specific implementation process, after the ultrasound host of the ultrasound imaging device obtains the first position information and the second position information, it further includes: determining the comprehensive position information of the ultrasound probe according to the first position information and the second position information. That is, the first position information and the second position information can be comprehensively analyzed to determine the comprehensive position information of the ultrasound probe.

[0093] Specifically, it includes determining a first credibility index of the first position information and a second credibility index of the second position information; determining the comprehensive position information of the ultrasound probe according to the first position information, the second position information, the first credibility index and the second credibility index. That is, due to external interference, there may be errors in the first position information and the second position information. Therefore, it is necessary to first determine the first credibility index of the first position information and the second credibility index of the second position information. The first credibility index is used to represent the quality of the first position information, and the second credibility index is used to represent the quality of the second position information. Then, the comprehensive position information of the ultrasound probe is determined according to the first position information, the first credibility index, the second position information and the second credibility index.

[0094] In a specific implementation process, the third positioning device of the ultrasound imaging device can also collect the current position information of the ultrasound probe of the ultrasound imaging device based on a third positioning technology to obtain the third position information. At this time, determining the comprehensive position information of the ultrasound probe according to the first position information and the second position information includes: determining a first credibility index of the first position information, a second credibility index of the second position information and a third credibility index of the third position information; determining the comprehensive position information of the ultrasound probe according to the first position information, the second position information, the third position information, the first credibility index, the second credibility index and the third credibility index.

[0095] Determining the credibility index of the position information includes: using the position information and the corresponding historical position information as a position information sequence, where the position information is the first position information, the second position information or the third position information, and the historical position information is the position information uploaded by the corresponding positioning device obtained by the ultrasound host before obtaining the position information; determining the standard deviation of the position information sequence; using the reciprocal of the standard deviation of the position information sequence as the credibility index of the position information.

[0096] When the position information is the first position information, the credibility index of the position information is: determining the first credibility index of the first position information. Determining the first credibility index of the first position information includes: taking the first position information and the first historical position information as a first position information sequence, where the first historical position information is the position information uploaded by the first positioning device obtained by the ultrasound host before obtaining the first position information; determining the standard deviation of the first position information sequence; taking the reciprocal of the standard deviation of the first position information sequence as the first credibility index of the first position information.

[0097] When the position information is the second position information, the credibility index of the position information is: determining the second credibility index of the second position information. Determining the second credibility index of the second position information includes: taking the second position information and the second historical position information as a second position information sequence, where the first historical position information is the position information uploaded by the second positioning device obtained by the ultrasound host before obtaining the second position information; determining the standard deviation of the second position information sequence; taking the reciprocal of the standard deviation of the second position information sequence as the second credibility index of the second position information.

[0098] When the position information is the third position information, the credibility index of the position information is: determining the third credibility index of the third position information. Determining the third credibility index of the third position information includes: taking the third position information and the third historical position information as a third position information sequence, where the third historical position information is the position information uploaded by the third positioning device obtained by the ultrasound host before obtaining the third position information; determining the standard deviation of the third position information sequence; taking the reciprocal of the standard deviation of the third position information sequence as the third credibility index of the third position information.

[0099] For example, the first position information sequence is LCT1 = [lct1 lc2......lc n-1 lc n , where lct1 represents the first position information, and lc2......lc n represents the first historical position information, that is, the n - 1 position information uploaded by the first positioning device before the ultrasound host obtains the first position information. Then, determine the standard deviation Lcst1 = std(LCT1) of the first position information sequence, where Lcst1 represents the standard deviation of the first position information sequence, and std() represents the standard deviation solving function. Then, take the reciprocal of the standard deviation of the first position information sequence as the first credibility index of the first position information. Represents the first confidence index.

[0100] In the actual implementation process, before taking the reciprocal of the standard deviation of the position information sequence as the confidence index of the position information, it includes: judging whether the reciprocal of the standard deviation of the position information sequence is less than a preset confidence threshold; if not, taking the reciprocal of the standard deviation of the position information sequence as the confidence index of the position information. If so, the position information is not used as the data for determining the comprehensive position information of the ultrasonic probe, that is, the position information is discarded.

[0101] When the position information is the first position information, taking the reciprocal of the standard deviation of the position information sequence as the confidence index of the position information includes: taking the reciprocal of the standard deviation of the first position information sequence as the first confidence index of the first position information. Specifically, before taking the reciprocal of the standard deviation of the first position information sequence as the first confidence index of the first position information, it also includes: judging whether the reciprocal of the standard deviation of the first position information sequence is less than a preset confidence threshold; if not, taking the reciprocal of the standard deviation of the first position information sequence as the first confidence index of the first position information. If so, the first position information is not used as the data for determining the comprehensive position information of the ultrasonic probe, that is, the position information is discarded.

[0102] The smaller k1 is, the larger the standard deviation of the first position information sequence is, and the less credible the first position information is. Therefore, a preset confidence threshold can be set. When the first confidence index is less than the preset confidence threshold, the first position information is not brought into the calculation of the comprehensive position information of the final ultrasonic probe. This can further ensure the reliability of the comprehensive position information.

[0103] Among them, determining the comprehensive position information of the ultrasonic probe according to the first position information, the second position information, the first confidence index and the second confidence index includes: determining the comprehensive position information of the ultrasonic probe according to the first position information, the second position information, the first confidence index, the second confidence index and a preset operation formula, where the preset operation formula is:

[0104]

[0105] Among them, lct represents the comprehensive position information, lct1 represents the first position information, k1 represents the first confidence index, lct2 represents the second position information, and k2 represents the second confidence index.

[0106] When a third positioning device is further included in the ultrasonic imaging device, the third positioning device acquires the current position information of the ultrasonic probe based on a third positioning technique to obtain third position information. At this time, the comprehensive position information of the ultrasonic probe can be determined according to the first position information, the second position information, the third position information, the first credibility index, the second credibility index, the third credibility index, and a preset operation formula, where the preset operation formula is:

[0107]

[0108] where lct represents the comprehensive position information, lct1 represents the first position information, k1 represents the first credibility index, lct2 represents the second position information, k2 represents the second credibility index, lct3 represents the third position information, and k3 represents the third credibility index.

[0109] Some positioning devices directly output the credibility value of their positioning information. Therefore, if one of the first positioning device and the second positioning device does not output the positioning information or the credibility values of the positioning information of both are not output, the foregoing method is used to determine the first credibility index and the second credibility index. If both the first positioning device and the second positioning device output the credibility values of their positioning information to the ultrasonic host, the ultrasonic host can perform certain processing on the credibility values output by the first positioning device and the second positioning device and use them as the first credibility index and the second credibility index. The processing includes unifying the value range of the credibility value output by the first positioning device and the value range of the credibility of the second positioning device, and then performing normalization processing on the unified credibility value of the first positioning information and the unified credibility value of the second positioning information in the same unified value range, etc.

[0110] Further, an embodiment of the present application also discloses a computer-readable storage medium for storing a computer program, where the computer program, when executed by a processor, implements the method for obtaining the position information of the ultrasonic probe disclosed in any of the foregoing embodiments.

[0111] The specific process of the method for obtaining the position information of the ultrasonic probe can refer to the corresponding content disclosed in the foregoing embodiments and will not be elaborated herein.

[0112] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts among the various embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the description of the method part.

[0113] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0114] Finally, it should be noted that, in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a series of processes, methods, articles or equipment containing other elements include not only those elements, but also other elements not explicitly listed, or also include elements inherent to such processes, methods, articles or equipment. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or equipment that includes the elements.

[0115] The above is a detailed introduction to an ultrasonic imaging device, an ultrasonic probe position information acquisition method and a medium provided by the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. An ultrasonic imaging device, characterized in that, Including: A first positioning device for collecting the current position information of the ultrasonic probe of the ultrasonic imaging device based on a first positioning technique, so as to obtain first position information; A second positioning device for collecting the current position information of the ultrasonic probe based on a second positioning technique, so as to obtain second position information; An ultrasonic host connected to both the first positioning device and the second positioning device, for obtaining the current position information output by the first positioning device and the current position information output by the second positioning device; Based on a first determination method or a second determination method, determining the comprehensive position information of the ultrasonic probe; Wherein, the first determination method is: the ultrasonic host determines the comprehensive position information of the ultrasonic probe based on a first preset operation formula, wherein the first preset operation formula is: ； Wherein, represents the comprehensive position information, represents the first position information, represents the first credibility index of the first position information, represents the second position information, represents the second credibility index of the second position information; The second determination method is: the ultrasonic host determines the comprehensive position information of the ultrasonic probe based on a second preset operation formula, wherein the second preset operation formula is: ； Among them, represents the comprehensive position information, represents the first position information, represents the first credibility index of the first position information, represents the second position information, represents the second credibility index of the second position information, represents the third position information, represents the third credibility index of the third position information; and, the third position information is the information obtained by collecting the current position information of the ultrasonic probe through the third positioning device in the ultrasonic imaging device and based on the third positioning technology; the third positioning device is connected to the ultrasonic host; Determining a credibility index of the position information, including: Taking the position information and the corresponding historical position information as a position information sequence; the historical position information is the position information uploaded by the corresponding positioning device obtained by the ultrasonic host before obtaining the position information; wherein, the position information is the first position information, the second position information or the third position information; Determining the standard deviation of the position information sequence; Taking the reciprocal of the standard deviation of the position information sequence as the credibility index of the position information.

2. The ultrasonic imaging device according to claim 1, characterized in that, The first positioning device is a magnetic positioning device, and the second positioning device is an inertial positioning device; Or, the first positioning device is a magnetic positioning device, and the second positioning device is an optical positioning device; Or, the first positioning device is an optical positioning device, and the second positioning device is an inertial positioning device.

3. The ultrasonic imaging device according to claim 1 or 2, characterized in that, Both the first positioning device and the second positioning device are integrated inside the ultrasonic probe, and both the first positioning device and the second positioning device are connected to the ultrasonic host through a first cable, wherein the first cable is the connection cable between the ultrasonic probe and the ultrasonic host.

4. The ultrasonic imaging device according to claim 1 or 2, characterized in that, Both the first positioning device and the second positioning device are fixed to the ultrasonic probe through a fixing fixture, and the first positioning device is connected to the ultrasonic host through a second cable, and the second positioning device is connected to the ultrasonic host through a third cable.

5. The ultrasonic imaging device according to claim 1 or 2, characterized in that, The first positioning device and the second positioning device are integrated inside a positioning device, the positioning device is fixed to the ultrasonic probe through a fixing fixture, and both the first positioning device and the second positioning device are connected to the ultrasonic host through a wireless communication device inside the positioning device.

6. The ultrasonic imaging device according to claim 1 or 2, characterized in that, The first positioning device is integrated inside the ultrasonic probe, and the first positioning device is connected to the ultrasonic host through a first cable, wherein the first cable is the connection cable between the ultrasonic probe and the ultrasonic host; The second positioning device is fixed to the ultrasonic probe through a fixing fixture, and the second positioning device is connected to the ultrasonic host through a third cable.

7. A method for obtaining the position information of an ultrasonic probe, characterized in that, Applied to an ultrasonic imaging device, including: The first positioning device of the ultrasonic imaging device acquires the current position information of the ultrasonic probe of the ultrasonic imaging device based on a first positioning technique to obtain first position information; The second positioning device of the ultrasonic imaging device acquires the current position information of the ultrasonic probe based on a second positioning technique to obtain second position information; The ultrasonic host of the ultrasonic imaging device determines the comprehensive position information of the ultrasonic probe based on a first determination method or a second determination method; Wherein, the first determination method is: the ultrasonic host of the ultrasonic imaging device obtains the first position information and the second position information, and determines the comprehensive position information of the ultrasonic probe according to the first position information and the second position information; The determining the comprehensive position information of the ultrasonic probe according to the first position information and the second position information includes: determining the comprehensive position information of the ultrasonic probe based on a first preset operation formula; wherein, the first preset operation formula is: ； Among them, represents the comprehensive location information, represents the first location information, represents the first credibility index of the first location information, represents the second location information, represents the second credibility index of the second location information; The second determination method is: the third positioning device of the ultrasonic imaging device acquires the current position information of the ultrasonic probe based on a third positioning technique to obtain third position information; the third positioning device is connected to the ultrasonic host; the ultrasonic host of the ultrasonic imaging device obtains the first position information, the second position information and the third position information, and determines the comprehensive position information of the ultrasonic probe according to the first position information, the second position information and the third position information; The determining the comprehensive position information of the ultrasonic probe according to the first position information, the second position information and the third position information includes: determining the comprehensive position information of the ultrasonic probe based on a second preset operation formula, wherein, the second preset operation formula is: ； Among them, represents the comprehensive location information, represents the first location information, represents the first credibility index of the first location information, represents the second location information, represents the second credibility index of the second location information, represents the third location information, represents the third credibility index of the third location information; Determining the credibility index of the position information includes: Taking the position information and the corresponding historical position information as a position information sequence; the historical position information is the position information uploaded by the corresponding positioning device obtained by the ultrasonic host before obtaining the position information; wherein, the position information is the first position information, the second position information or the third position information; Determining the standard deviation of the position information sequence; Taking the reciprocal of the standard deviation of the position information sequence as the credibility index of the position information.

8. The method for obtaining the position information of the ultrasonic probe according to claim 7, characterized in that, Before taking the reciprocal of the standard deviation of the position information sequence as the credibility index of the position information, it further includes: Judging whether the reciprocal of the standard deviation of the position information sequence is less than a preset credibility threshold; If not, taking the reciprocal of the standard deviation of the position information sequence as the credibility index of the position information; If so, discarding the position information.

9. A computer-readable storage medium, characterized in that, Used to store a computer program, wherein, when the computer program is executed by a processor, it implements the method for obtaining the position information of the ultrasonic probe as described in claim 7 or 8.

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