Ultrasonic probe scanning method, device and storage medium

Abstract

The present invention provides an ultrasonic probe scanning method, device and storage medium, which relates to the field of ultrasonic remote diagnosis technology, including: obtaining displacement information of the simulation probe through a displacement sensing plate that cooperates with the simulation probe; obtaining a pressure distribution map of the contact area where the simulation probe and the displacement sensing plate are attached in real time through a distributed pressure sensor arranged on the displacement sensing plate; determining the pressure information applied by the simulation probe according to the pressure distribution map, the pressure information being a pressure value; determining the posture information of the simulation probe according to the pressure distribution map; and generating control instructions for controlling a remote robot based on the displacement information, the pressure information and the posture information. The present invention can obtain the posture information of the simulation probe on the basis of existing hardware, has strong anti-interference and low cost.

Description

Technical Field

[0001] The present invention relates to the technical field of ultrasonic remote diagnosis, and in particular to an ultrasonic probe scanning method, device and storage medium. Background Art

[0002] At present, ultrasound remote consultation basically invites ultrasound imaging experts from high-level hospitals to provide assistance to grassroots medical institutions. The remote ultrasound detection system configures a remote robot on the patient side, which is remotely controlled by ultrasound imaging experts to perform ultrasound diagnosis to achieve resource sharing, which can solve the problem of resource shortage in remote and grassroots areas. At present, the posture information of the simulation probe is captured by the posture sensor set on the top of the simulation probe, and then the remote robot is synchronously controlled. The posture information is usually obtained by binding the magnetic positioning sensor to the simulation probe, and then establishing the coordinates through the magnetic field generator to obtain the posture information of the simulation probe. However, this method is expensive and easily interfered by metal, electronic equipment, etc. Summary of the invention

[0003] The purpose of the present invention is to overcome the deficiencies in the prior art. The present invention provides an ultrasonic probe scanning method, device and storage medium. The present invention can obtain the posture information of the simulated probe based on the existing hardware without adding expensive and easily interfered magnetic sensors.

[0004] As a first aspect of the present invention, the present invention provides an ultrasonic probe scanning method, comprising:

[0005] Acquiring displacement information of the simulation probe through a displacement sensing plate matched with the simulation probe;

[0006] The pressure distribution diagram of the contact area where the simulation probe and the displacement sensing plate are attached is obtained in real time by means of a distributed pressure sensor arranged on the displacement sensing plate;

[0007] Determine the pressure information applied by the simulation probe according to the pressure distribution diagram, wherein the pressure information is a pressure value;

[0008] Determining the posture information of the simulation probe according to the pressure distribution diagram;

[0009] A control instruction for controlling the remote robot is generated based on the displacement information, the pressure information, and the posture information.

[0010] Furthermore, the generating of a control instruction for controlling the remote robot based on the displacement information, the pressure information and the posture information specifically includes:

[0011] Generate a control instruction for driving the remote robot to control the translation and / or rotation of the ultrasound probe according to the displacement information of the simulation probe;

[0012] Generate a control instruction to drive the remote robot to control the ultrasound probe to press downward or lift upward according to the pressure information;

[0013] A control instruction is generated according to the posture information to drive the remote robot to adjust the inspection angle of the ultrasonic probe.

[0014] Further, determining the pressure information applied by the simulation probe according to the pressure distribution diagram specifically includes:

[0015] Traversing the pressure value corresponding to each pressure element in the pressure distribution graph;

[0016] The maximum pressure value in the pressure distribution diagram is determined as the pressure information applied by the simulation probe.

[0017] Further, the posture information of the simulation probe is determined according to the pressure distribution diagram, and is obtained by the following method:

[0018] The pressure distribution diagram is input into a trained posture analysis model to obtain posture information of the simulation probe.

[0019] Furthermore, the training method of the posture analysis model is as follows:

[0020] Acquire sample information, the sample information including a plurality of pressure distribution graphs collected by a distributed pressure sensor and posture information of a simulation probe corresponding to each of the pressure distribution graphs;

[0021] The sample information is input into the posture analysis network for forward propagation, and after the convolution layer extracts features, the pooling layer reduces the data dimension, and the fully connected layer extracts features again, the posture information of the simulation probe is output;

[0022] According to the error between the outputted posture information of the simulated probe and the actual posture information;

[0023] Calculate the error generated by the posture analysis network according to the loss function, and when the loss function converges, calculate the weight parameters obtained after training;

[0024] The weight parameters in the posture analysis network are updated to obtain a trained posture analysis model.

[0025] Furthermore, it also includes:

[0026] When the displacement sensing plate senses that the displacement trajectory of the simulation probe is a first preset displacement trajectory, a distributed pressure sensor disposed on the displacement sensing plate is activated.

[0027] Furthermore, the step of generating a control instruction for driving the remote robot to control the ultrasonic probe to press downward or lift upward according to the pressure information includes:

[0028] When the pressure value is greater than a first preset pressure value, a remote control instruction is generated to drive the remote robot to control the ultrasound probe to press the inspection part downward at a first preset speed;

[0029] When the pressure value is less than or equal to the first preset pressure value, a remote control instruction is generated correspondingly according to the increase or decrease of the pressure value to drive the remote robot to control the ultrasonic probe to press downward or lift upward at a second preset speed.

[0030] Furthermore, it also includes:

[0031] When the displacement sensing plate senses that the displacement trajectory of the simulation probe is a second preset displacement trajectory, activating the remote robot;

[0032] When the displacement sensing plate senses that the displacement trajectory of the simulation probe is a third preset displacement trajectory, the remote robot is locked.

[0033] As a second aspect of the present invention, the present invention also provides an ultrasonic probe scanning device, comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the above-mentioned ultrasonic probe scanning method by executing the computer instructions.

[0034] As a third aspect of the present invention, the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the above-mentioned ultrasound probe scanning method.

[0035] The present invention obtains the pressure distribution diagram of the contact area between the simulation probe and the displacement sensing plate in real time by means of a distributed pressure sensor arranged on the displacement sensing plate, and then determines the posture information of the simulation probe based on the pressure distribution diagram without adding an expensive and easily interfered magnetic sensor.

[0036] Furthermore, the present invention activates the distributed pressure sensor disposed on the displacement sensing board when the displacement sensing board senses that the displacement track of the simulation probe is the first preset displacement track, which can greatly reduce the power consumption of the device and reduce the cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a schematic diagram of the process of the ultrasonic probe scanning method of the present invention;

[0038] Figure 2 A schematic structural diagram of the ultrasonic probe scanning device of the present invention;

[0039] Figure 3A schematic diagram of the structure of a computer-readable storage medium provided according to an embodiment of the present invention. DETAILED DESCRIPTION

[0040] The present invention is described in detail below in conjunction with the various embodiments shown in the accompanying drawings, but it should be noted that these embodiments are not limitations of the present invention, and any equivalent transformations or substitutions in functions, methods, or structures made by ordinary technicians in the field based on these embodiments are all within the scope of protection of the present invention.

[0041] At present, the posture information of the simulation probe is mainly captured by the posture sensor set on the top of the simulation probe to synchronously control the remote robot. The posture information is usually obtained by binding the magnetic positioning sensor to the simulation probe, and then establishing the coordinates through the magnetic field generator to obtain the posture information of the simulation probe. However, this method is expensive and easily affected by metal, electronic equipment, etc.

[0042] like Figure 1 As shown, in view of the above problems, the present invention provides an ultrasonic probe scanning method, comprising the steps of:

[0043] S100, obtaining displacement information of the simulation probe through a displacement sensing plate matched with the simulation probe;

[0044] The remote ultrasound detection system is a remote robot configured at the patient end, which is remotely controlled by ultrasound imaging experts for ultrasound diagnosis. The remote expert usually performs remote control through the remote simulation probe in the ultrasound remote diagnosis room. The ultrasound expert in the ultrasound remote diagnosis room simulates the movement of the ultrasound probe on the surface of the inspection part based on the video information transmitted back, which at least includes the patient and the remote robot equipped with the ultrasound probe. The remote robot controls the ultrasound probe to scan according to the scanning strategy of the simulation probe. The scanning strategy at least includes rotation, translation, adjusting the angle of the ultrasound probe, adjusting the pressure applied by the ultrasound probe, etc.

[0045] The displacement sensing plate of the present invention is used to sense the relative displacement information of the simulation probe, and the displacement information at least includes the moving track and displacement distance of the simulation probe.

[0046] The traditional remote control method still requires ultrasound doctors to operate in a special ultrasound remote diagnosis room, which is not convenient enough. In one embodiment, the simulation probe of the present invention is a mobile phone, and the displacement sensing board matched with the simulation probe is a tablet. Signals can be transmitted between the simulation probe and the displacement sensing board through WiFi direct connection, Bluetooth or wired mode.

[0047] S200, obtaining in real time a pressure distribution diagram of a contact area where the simulation probe and the displacement sensing plate are attached by a distributed pressure sensor disposed on the displacement sensing plate;

[0048] The distributed pressure sensor provided on the displacement sensing board of the present invention is a thin film distributed pressure sensor. It should be understood that the distributed pressure sensor of the present invention is in a low power consumption state or a non-working state when not in operation. When the displacement sensing board senses that the displacement track of the simulation probe is the first preset displacement track, the distributed pressure sensor provided on the displacement sensing board is activated, which can greatly reduce the power consumption of the device and reduce the cost.

[0049] In another embodiment, most of the distributed pressure sensors are in a low power consumption state of the ultrasonic probe or in an inoperative state; only one pressure sensor is in an operating state, and when the pressure between the simulation probe and the displacement sensing plate is greater than the activation pressure value, all the pressure sensors in the distributed pressure sensor are controlled.

[0050] S300, determining pressure information applied by the simulation probe according to the pressure distribution diagram, wherein the pressure information is a pressure value;

[0051] The pressure distribution diagram determines the pressure information applied by the simulation probe, which can prevent the robot-controlled ultrasonic probe from applying too much pressure, causing deformation of the scanned part and harming the detected object. The present invention determines the pressure information applied by the simulation probe by finding the maximum value, which specifically includes:

[0052] S310, traversing the pressure value corresponding to each pressure element in the pressure distribution graph;

[0053] S320: Determine the maximum pressure value in the pressure distribution diagram as the pressure information applied by the simulation probe.

[0054] S400, determining the posture information of the simulation probe according to the pressure distribution diagram;

[0055] In one embodiment, the pressure distribution diagram is input into a trained posture analysis model to obtain posture information of the simulation probe, specifically including:

[0056] Acquire sample information, the sample information including a plurality of pressure distribution graphs collected by a distributed pressure sensor and posture information of a simulation probe corresponding to each of the pressure distribution graphs;

[0057] The sample information is input into the posture analysis network for forward propagation, and after the convolution layer extracts features, the pooling layer reduces the data dimension, and the fully connected layer extracts features again, the posture information of the simulation probe is output;

[0058] According to the error between the outputted posture information of the simulated probe and the actual posture information;

[0059] The error generated by the posture analysis network is calculated according to the loss function. When the loss function converges, the weight parameters obtained after training are calculated. The smaller the loss function is, the better the robustness of the posture analysis model is. Preferably, the loss function is a cross entropy loss function.

[0060] The weight parameters in the posture analysis network are updated to obtain a trained posture analysis model.

[0061] S500, generating a control instruction for controlling a remote robot based on the displacement information, the pressure information and the posture information.

[0062] Specifically include:

[0063] S510, generating a control instruction for driving a remote robot to control translation and / or rotation of an ultrasound probe according to the displacement information of the simulation probe;

[0064] S520, generating a control instruction to drive the remote robot to control the ultrasound probe to press downward or lift upward according to the pressure information;

[0065] The step of generating a control instruction for driving the remote robot to control the ultrasonic probe to press downward or lift upward according to the pressure information comprises:

[0066] When the pressure value is greater than a first preset pressure value, a remote control instruction is generated to drive the remote robot to control the ultrasound probe to press the inspection part downward at a first preset speed;

[0067] When the pressure value is less than or equal to the first preset pressure value, a remote control instruction is generated correspondingly according to the increase or decrease of the pressure value to drive the remote robot to control the ultrasonic probe to press downward or lift upward at a second preset speed.

[0068] Furthermore, it also includes:

[0069] When the displacement sensing plate senses that the displacement trajectory of the simulation probe is a second preset displacement trajectory, activating the remote robot;

[0070] When the displacement sensing plate senses that the displacement trajectory of the simulation probe is a third preset displacement trajectory, the remote robot is locked.

[0071] S530: Generate a control instruction for driving the remote robot to adjust the inspection angle of the ultrasonic probe according to the posture information.

[0072] The present invention obtains the pressure distribution diagram of the contact area between the simulation probe and the displacement sensing plate in real time by means of a distributed pressure sensor arranged on the displacement sensing plate, and then determines the posture information of the simulation probe based on the pressure distribution diagram without adding an expensive and easily interfered magnetic sensor.

[0073] As a second aspect of the present invention, the present invention further provides an ultrasonic probe scanning device, comprising: a memory and a processor, the memory and the processor are connected to each other for communication, the memory stores computer instructions, and the processor executes the above-mentioned ultrasonic probe scanning method by executing the computer instructions. Figure 2 As shown, the electronic device may include a processor 51 and a memory 52, wherein the processor 51 and the memory 52 may be connected via a bus or other means. Figure 2 Take the example of connecting via a bus.

[0074] The processor 51 may be a central processing unit (CPU). The processor 51 may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or a combination of the above chips.

[0075] The memory 52 is a non-transitory computer-readable storage medium that can be used to store non-transitory software programs, non-transitory computer executable programs and modules, such as the corresponding program instructions / modules in the embodiment of the present invention. The processor 51 executes various functional applications and data processing of the processor by running the non-transitory software programs, instructions and modules stored in the memory 52, that is, to implement the ultrasonic probe scanning method in the above method embodiment.

[0076] The memory 52 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and applications required for at least one function; the data storage area may store data created by the processor 51, etc. In addition, the memory 52 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 52 may optionally include a memory remotely arranged relative to the processor 51, and these remote memories may be connected to the processor 51 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0077] As a third aspect of the present invention, the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the above-mentioned ultrasound probe scanning method. Figure 3 The computer program 601 is shown as being stored thereon, and when the instruction is executed by the processor, the steps of the ultrasonic intelligent imaging navigation method in the above embodiment are implemented. The storage medium also stores audio and video stream data, feature frame data, interaction request signaling, encrypted data, and preset data size, etc. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), a flash memory (Flash Memory), a hard disk (HDD) or a solid-state drive (SSD), etc.; the storage medium can also include a combination of the above-mentioned types of memory.

[0078] Those skilled in the art can understand that the implementation of all or part of the processes in the above-mentioned embodiments can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD), etc.; the storage medium can also include a combination of the above-mentioned types of memory.

[0079] The series of detailed descriptions listed above are only specific descriptions of feasible implementation methods of the present invention. They are not intended to limit the scope of protection of the present invention. Any equivalent implementation methods or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

[0080] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. An ultrasonic probe scanning method, characterized in that: include: Acquiring displacement information of the simulation probe through a displacement sensing plate matched with the simulation probe; The pressure distribution diagram of the contact area where the simulation probe and the displacement sensing plate are attached is obtained in real time by means of a distributed pressure sensor arranged on the displacement sensing plate; Determine the pressure information applied by the simulation probe according to the pressure distribution diagram, wherein the pressure information is a pressure value; Determining the posture information of the simulation probe according to the pressure distribution diagram; generating a control instruction for controlling the remote robot based on the displacement information, the pressure information and the posture information; Determining the pressure information applied by the simulation probe according to the pressure distribution diagram specifically includes: Traversing the pressure value corresponding to each pressure element in the pressure distribution graph; The maximum pressure value in the pressure distribution diagram is determined as the pressure information applied by the simulation probe.

2. The ultrasonic probe scanning method according to claim 1, characterized in that: The generating of a control instruction for controlling the remote robot based on the displacement information, the pressure information and the posture information specifically includes: Generate a control instruction for driving the remote robot to control the translation and / or rotation of the ultrasound probe according to the displacement information of the simulation probe; Generate a control instruction to drive the remote robot to control the ultrasound probe to press downward or lift upward according to the pressure information; A control instruction is generated according to the posture information to drive the remote robot to adjust the inspection angle of the ultrasonic probe.

3. The ultrasonic probe scanning method according to claim 1, characterized in that: The posture information of the simulation probe is determined according to the pressure distribution diagram, and is obtained by the following method: The pressure distribution diagram is input into a trained posture analysis model to obtain posture information of the simulation probe.

4. The ultrasonic probe scanning method according to claim 3, characterized in that: The training method of the posture analysis model is as follows: Acquire sample information, the sample information including a plurality of pressure distribution graphs collected by a distributed pressure sensor and posture information of a simulation probe corresponding to each of the pressure distribution graphs; The sample information is input into the posture analysis network for forward propagation, and after the convolution layer extracts features, the pooling layer reduces the data dimension, and the fully connected layer extracts features again, the posture information of the simulation probe is output; According to the error between the outputted posture information of the simulated probe and the actual posture information; Calculate the error generated by the posture analysis network according to the loss function, and when the loss function converges, calculate the weight parameters obtained after training; The weight parameters in the posture analysis network are updated to obtain a trained posture analysis model.

5. The ultrasonic probe scanning method according to claim 1, characterized in that: Also includes: When the displacement sensing plate senses that the displacement trajectory of the simulation probe is a first preset displacement trajectory, a distributed pressure sensor disposed on the displacement sensing plate is activated.

6. The ultrasonic probe scanning method according to claim 2, characterized in that: The step of generating a control instruction for driving the remote robot to control the ultrasonic probe to press downward or lift upward according to the pressure information comprises: When the pressure value is greater than a first preset pressure value, a remote control instruction is generated to drive the remote robot to control the ultrasound probe to press the inspection part downward at a first preset speed; When the pressure value is less than or equal to the first preset pressure value, a remote control instruction is generated correspondingly according to the increase or decrease of the pressure value to drive the remote robot to control the ultrasonic probe to press downward or lift upward at a second preset speed.

7. The ultrasonic probe scanning method according to claim 1, characterized in that: Also includes: When the displacement sensing plate senses that the displacement trajectory of the simulation probe is a second preset displacement trajectory, activating the remote robot; When the displacement sensing plate senses that the displacement trajectory of the simulation probe is a third preset displacement trajectory, the remote robot is locked.

8. An ultrasonic probe scanning device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the ultrasonic probe scanning method described in any one of claims 1 to 7 by executing the computer instructions.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the ultrasonic probe scanning method described in any one of claims 1 to 7.

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