Optimized path generation method, cerebral blood flow data acquisition method and system

Abstract

The present invention relates to an optimized path generation method, a cerebral blood flow data acquisition method, and a system. The optimized path generation method includes S1, determining a first detection direction and a second detection direction, wherein the first detection direction is associated with a primary drive unit and the second detection direction is associated with a secondary drive unit; S2, determining an initial detection point based on a to-be-detected trajectory point located at an edge position of a to-be-detected point set in the first detection direction; S3, determining a reference point based on the position of the initial detection point; S4, based on the second detection direction and the first detection direction, sequentially and alternately determining multiple to-be-detected trajectory points adjacent to the reference point as second detection points; and S5, determining a detection sequence based on the acquisition time corresponding to the initial detection point and the acquisition time corresponding to the second detection point. The present invention has the effect of increasing the service life of the device.

Description

Technical Field

[0001] The present invention relates to the technical field of cerebral blood vessel scanning path planning, and in particular to an optimized path generation method, a cerebral blood flow data acquisition method and a system. Background Art

[0002] The morphological distribution of human brain arteries can be obtained through magnetic resonance imaging. The morphological distribution of intracranial arteries in most normal people is basically the same, but the morphological distribution of intracranial arteries in some people with cerebral vascular malformations, skull deformities, and cerebrovascular diseases varies with the manifestation of the disease, and it is difficult to match them through a universal model, that is, it is difficult to obtain the morphological distribution of their intracranial arteries. However, their main arteries such as the middle cerebral artery, anterior cerebral artery, posterior cerebral artery, and intracranial segment of the neck artery are relatively easy to match with the model spatial morphology of most people, so as to find the middle cerebral artery, anterior cerebral artery, posterior cerebral artery or intracranial segment of the neck artery, and then based on this artery, the spatial morphology of other blood vessels is anchored for reference, and the morphological distribution of intracranial arteries can be obtained.

[0003] Application No. 202210027476.9 discloses model partitioning based on a projection model to determine multiple areas to be scanned; based on the distribution of the predicted distribution area, the probability of cerebral blood vessels appearing in the area to be scanned is evaluated, the partition probability corresponding to the area to be scanned is determined, and areas with a higher probability of cerebral blood vessels are screened out, and then the scanning path is determined based on the elevator scheduling algorithm.

[0004] The above-mentioned existing technical solutions have the following defects: when the ultrasonic probe scans according to the elevator scheduling algorithm, the ultrasonic probe needs to frequently change the scanning direction, and thus the driving source that controls the movement of the ultrasonic probe needs to be constantly replaced, which increases the workload of the driving source and thus affects the service life of the driving source. Summary of the Invention

[0005] The first object of the present invention is to provide a method for generating an optimized path, which has the characteristic of increasing the service life of a driving source.

[0006] The above-mentioned object of the present invention is achieved through the following technical solutions:

[0007] An optimized path generation method, comprising:

[0008] S1. Determine a first detection direction and a second detection direction, wherein the first detection direction and the second detection direction have an included angle, the first detection direction is associated with a primary drive unit, and the second detection direction is associated with a secondary drive unit.

[0009] S2. Determine an initial detection point based on a track point to be detected located at an edge position of a set of track points to be detected in the first detection direction, wherein the set of track points to be detected includes a plurality of track points to be detected, and the track points to be detected are used to indicate positions where data collection is required;

[0010] S3. Determine a reference point based on the position of the initial detection point;

[0011] S4, based on the second detection direction and the first detection direction, sequentially and alternately determining a plurality of the to-be-detected trajectory points adjacent to the reference point as second detection points;

[0012] S5. Sort the initial detection points and the second detection points based on the acquisition time corresponding to the initial detection point and the acquisition time corresponding to the second detection point to determine a detection sequence.

[0013] By adopting the above technical solution, when a series of trajectory points to be detected are distributed in sequence along the first detection direction, the first-level driving unit drives the ultrasonic probe to move along the first detection direction, so that this series of trajectory points to be detected can be scanned in sequence; when a series of trajectory points to be detected are distributed in sequence along the second detection direction, the second-level driving unit drives the ultrasonic probe to move along the second detection direction, so that this series of trajectory points to be detected can be scanned in sequence; when a series of trajectory points to be detected are distributed along both the first detection direction and the second detection direction, the ultrasonic probe needs to be moved along the first detection direction first, and then along the second detection direction. In this process, it is necessary to first make the first-level driving unit work, and then make the second-level driving unit work. There is a transformation between the first-level driving unit and the second-level driving unit, that is, the driving source of the ultrasonic probe will switch between the first-level driving unit and the second-level driving unit.

[0014] The technical solution of the present application plans the first detection direction and the second detection direction alternately in sequence. Each planning starts with the reference point, and obtains a series of trajectory points to be detected distributed along the same direction as much as possible along the first detection direction / second detection direction, and finally integrates them to obtain a detection sequence.

[0015] When the ultrasonic probe moves according to the detection sequence, it can scan as many trajectory points to be detected as possible alternately in the first detection direction and the second detection direction, reduce the switching between the first detection direction and the second detection direction, and thereby reduce the frequency of switching of the driving source of the ultrasonic probe between the primary driving part and the secondary driving part, thereby extending the working life of the primary driving part and the secondary driving part.

[0016] Optionally, step S2 includes:

[0017] S21, obtaining the set of points to be detected;

[0018] S22, projecting the set of points to be detected into a reference coordinate system, wherein the reference coordinate system is established based on the first detection direction and the second detection direction;

[0019] S23, performing point distribution analysis in the first detection direction based on the set of points to be detected to determine a dense area;

[0020] S24: Determine a reference point based on the to-be-detected track point located at an edge position of the dense area in the first detection direction.

[0021] By adopting the above technical solution, the set of trajectory points to be detected is composed of a series of trajectory points to be detected, each of which refers to the position where the ultrasonic probe needs to collect data. In actual situations, the distribution of the trajectory points to be detected on the head of the person being tested is based on three-dimensional space, and the ultrasonic probe moves based on the first detection direction and the second detection direction, that is, the movement of the ultrasonic probe is based on two-dimensional space. In order to enable the ultrasonic probe to accurately scan the trajectory points to be detected, a reference coordinate system is established based on the first detection direction and the second detection direction, and the set of trajectory points to be detected is projected into the reference coordinate system, thereby completing the transformation of the trajectory points to be detected from three-dimensional space to two-dimensional space.

[0022] The technical solution of the present application analyzes the point distribution of the trajectory points to be detected along the first detection direction to obtain a dense area with a large number of trajectory points to be detected, and determines the reference point based on the dense area, which can increase the probability that the reference point exists in the second detection direction and the first detection direction; the trajectory point to be detected at the most edge position along the first detection direction is determined as the reference point, and there is a trend of gradually screening the second detection point along the first detection direction, which can reduce the situation of missing the trajectory points to be detected.

[0023] Optionally, step S22 includes:

[0024] The reference coordinate system is established based on a detection area, the first detection direction, and the second detection direction, wherein the detection area is associated with a mounting member for fixing the primary driving unit and the secondary driving unit.

[0025] With this technical solution, the detection area refers to the range within which the ultrasound probe can move under the control of the primary and secondary drive units. The mounting assembly secures these two drive units, and friction between the mounting assembly and the subject's head maintains a relatively stable positional relationship between the ultrasound probe and the subject. A reference coordinate system is established based on the detection area, the first detection direction, and the second detection direction. This system associates the two-dimensional spatial positional information of the trajectory points to be detected with the reference coordinate system.

[0026] The technical solution of the present application obtains the position information of the trajectory point to be detected based on the reference coordinate system by associating the trajectory point to be detected with the reference coordinate system, and then drives the ultrasonic probe to accurately find the corresponding position of the trajectory point to be detected in the reference coordinate system based on the position information of the trajectory point to be detected.

[0027] Optionally, step S23 includes:

[0028] S231, determining candidate regions based on regions where the to-be-detected trajectory points exist in the first detection direction, wherein the candidate regions are distributed along the second detection direction;

[0029] S232: Perform numerical comparison based on the number of the to-be-detected trajectory points in each of the candidate areas, and determine a dense area based on the comparison result.

[0030] By adopting the above technical solution, the areas where there are trajectory points to be detected along the first detection direction are screened out, which can improve the sorting efficiency of the trajectory points to be detected. The values ​​of the trajectory points to be detected in each candidate area are compared, and the dense area is determined based on the comparison results. Then, the initial detection point and the reference point are determined based on the dense area along the first detection direction.

[0031] Optionally, step S4 includes:

[0032] S41, determining whether the initial detection point exists in the second detection direction or the first detection direction. If yes, proceed to step S42; if no, return to step S2;

[0033] S42, determining whether the reference point has the track point to be detected in the second detection direction;

[0034] S43. If yes, determine a second detection point based on the track point to be detected adjacent to the reference point, and update the track point to be detected closest to the reference point in the first detection direction as the reference point, and return to step S42.

[0035] By adopting the above technical solution, the reference point is determined based on the initial detection point, and whether there is a trajectory point to be detected along the second detection direction based on the reference point. If so, the trajectory point to be detected along the second detection direction of the reference point is determined as the second detection point. It is worth noting that when there are trajectory points to be detected on both sides of the reference point along the second detection direction, one is selected as the second detection point, and the other trajectory point to be detected is used as the next second detection point; if not, whether there is a trajectory point to be detected is detected based on the first detection direction of the reference point. If so, it is updated to a new reference point, and then based on the new reference point, it is determined whether there is a trajectory point to be detected along the second detection direction, that is, the above judgment steps are repeated.

[0036] The second object of the present invention is to provide a method for collecting cerebral blood flow data, which has the characteristic of increasing the service life of the driving source.

[0037] The second object of the present invention is achieved through the following technical solutions:

[0038] A cerebral blood flow data acquisition method, comprising:

[0039] S6. The driving device drives the actuator to collect data based on the detection sequence.

[0040] By adopting the above technical solution, the detection order of the trajectory points to be detected is re-arranged based on the set of points to be detected to obtain a detection sequence. The driving device controls the actuator based on the detection sequence to drive the ultrasonic probe to detect each trajectory point to be detected in turn. Since the detection sequence can minimize the rotation of the driving device, the protection of the driving device can be improved.

[0041] Optionally, step S6 includes:

[0042] S61. Determine, based on the detection sequence, a plurality of detection point pairs distributed in chronological order, wherein the detection point pairs include two adjacent to-be-detected trajectory points in the detection sequence;

[0043] S62, determining a movement execution path based on the movement modes corresponding to the detection point pairs;

[0044] S63, the driving device drives the actuator to collect data based on the execution path;

[0045] Wherein, the movement mode includes movement in a first direction and movement in a second direction; the driving device includes the primary driving part corresponding to movement in the first direction and the secondary driving part corresponding to movement in the second direction.

[0046] By adopting the above technical solution, the movement mode includes movement in a first direction and movement in a second direction; the driving device includes a primary driving part corresponding to movement in the first direction and a secondary driving part corresponding to movement in the second direction, that is, the first direction is associated with the first detection direction, and the second direction is associated with the second detection direction.

[0047] Optionally, the second-direction movement includes a second sequential movement and a second cross-region movement, and the secondary driving unit includes a sequential driving member corresponding to the second sequential movement and a cross-region driving member corresponding to the second cross-region movement.

[0048] By adopting the above technical solution, when the ultrasonic probe moves along the first detection direction, the ultrasonic probe can be controlled to move longitudinally, and when the ultrasonic probe moves along the second detection direction, the ultrasonic probe can move laterally or in a swinging manner. When the execution path between the detection point pairs spans more than two unit lengths of the reference coordinate system, the ultrasonic probe is moved between the detection point pairs by controlling the ultrasonic probe to move laterally, and when the distance between the detection point pairs based on the second detection direction is less than one unit length of the reference coordinate system, the ultrasonic probe is controlled to move in a swinging manner.

[0049] The third object of the present invention is to provide an optimized path generation device, which has the characteristic of increasing the service life of the driving source.

[0050] The third object of the present invention is achieved through the following technical solutions:

[0051] An optimized path generation device, comprising:

[0052] a direction determination module, configured to determine a first detection direction and a second detection direction; wherein the first detection direction and the second detection direction are perpendicular to each other, and the first detection direction and the second detection direction are related to the moving direction of the driving device;

[0053] An initial detection point positioning module is used to determine an initial detection point based on a track point to be detected that is located at an edge position of the set of points to be detected in the first detection direction;

[0054] A base point selection module is used to determine the reference point based on the position of the initial detection point;

[0055] A point position acquisition module is used to sequentially and alternately determine a plurality of to-be-detected trajectory points adjacent to the reference point as a plurality of second detection points in the second detection direction and the first detection direction;

[0056] The sorting generation module is used to sort the initial detection points and the second detection points based on the acquisition time corresponding to the initial detection point and the acquisition time corresponding to the second detection point to determine the detection sequence.

[0057] The fourth object of the present invention is to provide a cerebral blood flow data acquisition system with the characteristic of increasing the service life of the driving source.

[0058] The fourth object of the present invention is achieved through the following technical solutions:

[0059] A cerebral blood flow data acquisition system, comprising:

[0060] a direction determination module, configured to determine a first detection direction and a second detection direction; wherein the first detection direction and the second detection direction are perpendicular to each other, and the first detection direction and the second detection direction are related to the moving direction of the driving device;

[0061] An initial detection point positioning module is used to determine an initial detection point based on a track point to be detected that is located at an edge position of the set of points to be detected in the first detection direction;

[0062] A base point selection module is used to determine the reference point based on the position of the initial detection point;

[0063] A point position acquisition module is used to sequentially and alternately determine a plurality of to-be-detected trajectory points adjacent to the reference point as a plurality of second detection points in the second detection direction and the first detection direction;

[0064] A sorting generation module, configured to sort each initial detection point and each second detection point based on the acquisition time corresponding to the initial detection point and the acquisition time corresponding to the second detection point, to determine a detection sequence;

[0065] The driving mechanism is used to drive the actuator to collect data based on the detection sequence.

[0066] In summary, the present invention includes at least one of the following beneficial technical effects:

[0067] 1. Alternately plan the first and second detection directions. Each planning step starts with the reference point. Try to obtain a series of trajectory points along the first and second detection directions that are distributed in the same direction as much as possible. Finally, integrate them to obtain a detection sequence. Alternately plan the first and second detection directions. Each planning step starts with the reference point. Try to obtain a series of trajectory points along the first and second detection directions that are distributed in the same direction as much as possible. Finally, integrate them to obtain a detection sequence.

[0068] 2. Determine the trajectory point to be detected at the edge position of the dense area as the reference point, obtain a new reference point along the first detection direction as much as possible, and obtain the second detection point based on the second detection direction of the reference point, that is, gradually obtain new reference points along one direction, reduce the situation where the ultrasonic probe skips the trajectory point to be detected along the first detection direction and the second detection direction, reduce the situation where the ultrasonic probe moves back and forth in the first detection direction and the second detection direction, thereby reducing the movement path of the ultrasonic probe.

[0069] 3. Associate the trajectory point to be detected with the reference coordinate system to obtain the position information of the trajectory point to be detected based on the reference coordinate system, and then drive the ultrasonic probe to accurately find the corresponding position of the trajectory point to be detected in the reference coordinate system based on the position information of the trajectory point to be detected. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] Figure 1 It is a flowchart of an optimization path generation method according to one embodiment of the present invention.

[0071] Figure 2 It is a structural schematic diagram of a mounting member according to one embodiment of the present invention.

[0072] Figure 3 FIG. 1 is a schematic structural diagram of a trajectory point to be detected in a detection area according to one embodiment of the present invention.

[0073] Figure 4 It is a structural schematic diagram of an actuator of an ultrasonic probe according to one embodiment of the present invention.

[0074] Figure 5 It is a flow chart of an optimized path generation device in one embodiment of the present invention.

[0075] Figure 6 It is a flowchart of a cerebral blood flow data acquisition system in one embodiment of the present invention.

[0076] In the figure, 1. ultrasonic probe; 2. mounting part; 3. actuator; 100. direction determination module; 200. initial detection point positioning module; 300. base point selection module; 400. point position acquisition module; 500. sorting generation module; 600. driving mechanism. DETAILED DESCRIPTION

[0077] The present invention will be further described in detail below with reference to the accompanying drawings.

[0078] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0079] An embodiment of the present invention provides a method for generating an optimized path, comprising:

[0080] Reference Figure 1 , S1. Determine a first detection direction and a second detection direction.

[0081] There is an angle between the first detection direction and the second detection direction. In this embodiment, the first detection direction and the second detection direction are perpendicular to each other.

[0082] The first detection direction is associated with the primary driving portion, and the second detection direction is associated with the secondary driving portion.

[0083] Among them, under the action of the primary driving unit, the ultrasonic probe 1 moves along the first detection direction, and under the action of the secondary driving unit, the ultrasonic probe 1 moves along the second detection direction, that is, when the ultrasonic probe 1 moves along the first detection direction or the second detection direction, the ultrasonic probe 1 is alternately controlled by the primary driving unit and the secondary driving unit; that is, under the change of the driving source, the ultrasonic probe 1 moves along the first detection direction and then moves along the second detection direction. In this embodiment, the driving source indicates the motor.

[0084] S2. Determine an initial detection point based on the to-be-detected trajectory points located at edge positions of the to-be-detected point set in the first detection direction.

[0085] Among them, the set of points to be detected includes multiple trajectory points to be detected, and the trajectory points to be detected are used to indicate the positions where data collection is required, that is, the trajectory points to be detected are used to indicate the corresponding positions to which the ultrasonic probe 1 needs to move. When a series of trajectory points to be detected are distributed along the first detection direction, the ultrasonic probe 1 detects the first detection direction, and determines the trajectory point to be detected located at the edge position in the first detection direction as the initial detection point, so that other trajectory points to be detected can be gradually screened along the first detection direction, and the range where the trajectory points to be detected exist can be gradually narrowed along the first detection direction.

[0086] S3. Determine the reference point based on the position of the initial detection point.

[0087] S4. Based on the second detection direction and the first detection direction, a plurality of to-be-detected trajectory points adjacent to the reference point are sequentially and alternately determined as second detection points.

[0088] Among them, the second detection direction based on the reference point determines the adjacent trajectory point to be detected as the second detection point, and then the next reference point is determined based on the first detection direction, that is, by interlacing the first detection direction and the second detection direction, as many trajectory points to be detected as possible are found along one direction based on the reference point, reducing the switching frequency of the drive source during the detection process, thereby extending the service life of the primary drive unit and the secondary drive unit.

[0089] In this embodiment, the primary driving unit and the secondary driving unit are motors, the output end of the motor is fixed to the ultrasonic probe 1, and under the action of the motor, the ultrasonic probe 1 can move along the first detection direction and the second detection direction respectively.

[0090] S5. Sort the initial detection points and the second detection points based on the acquisition time corresponding to the initial detection point and the acquisition time corresponding to the second detection point to determine a detection sequence.

[0091] Among them, based on the time of obtaining different reference points and second detection points, the reference points and the second detection points are sorted based on the acquisition time, so as to obtain the detection sequence of the trajectory points to be detected. The ultrasonic probe 1 scans the trajectory points to be detected in sequence according to the detection sequence, which can minimize the switching frequency of the conversion drive source.

[0092] Specifically, step S2 includes:

[0093] S21. Obtain a set of points to be detected.

[0094] S22 . Project the point set to be detected into a reference coordinate system, wherein the reference coordinate system is established based on the first detection direction and the second detection direction.

[0095] Among them, in actual situations, the distribution of the trajectory points to be detected on the head of the person being tested is based on three-dimensional space, and the ultrasonic probe 1 moves based on the first detection direction and the second detection direction, that is, the movement of the ultrasonic probe 1 is based on two-dimensional space. In order to enable the ultrasonic probe 1 to accurately find the trajectory points to be detected, a reference coordinate system is established based on the first detection direction and the second detection direction, and the set of trajectory points to be detected is projected into the reference coordinate system, thereby completing the transformation of the trajectory points to be detected from three-dimensional space to two-dimensional space.

[0096] S23: Perform point distribution analysis in the first detection direction based on the set of points to be detected to determine a dense area.

[0097] Among them, when the trajectory points to be detected are distributed in the reference coordinate system, they are distributed based on the first detection direction and the second detection direction. The area to be detected is divided into multiple areas based on the first detection direction. Based on these areas, the area with the most values ​​of the trajectory points to be detected is screened out to determine the dense area. The possibility of finding the next point to be detected based on the dense area will be greater, which is convenient for finding the corresponding trajectory points to be detected later, and also convenient for obtaining all the trajectory points to be detected as quickly as possible.

[0098] S24 . Determine a reference point based on the to-be-detected track point located at an edge position of the dense area in the first detection direction.

[0099] Among them, the reference point is located at the edge position in the first detection direction, so it moves from one side to the other based on the first detection direction, and gradually screens the next reference point. This can reduce the back and forth movement of the reference points distributed based on the first detection direction, and can effectively reduce the moving distance of the ultrasound probe 1, thereby increasing the moving speed.

[0100] Specifically, step S22 includes:

[0101] A reference coordinate system is established based on the detection area, the first detection direction, and the second detection direction, wherein the detection area is associated with the mounting member 2 for fixing the primary drive unit and the secondary drive unit.

[0102] The detection area refers to the range within which the ultrasound probe 1 can move under the control of the primary and secondary drive units. The mounting member 2 is used to secure these two drive units. The mounting member 2 rubs against the subject's head to maintain a relatively stable positional relationship between the ultrasound probe 1 and the subject. A reference coordinate system is established based on the detection area, the first detection direction, and the second detection direction. This correlates the two-dimensional spatial position information of the trajectory points to be detected with the reference coordinate system.

[0103] In this embodiment, referring to Figure 2 and Figure 3 The area determined by the mounting member 2 is a rectangle, and one of the corners is determined as the origin based on the area. The first detection direction is along the width direction of the rectangle, and the second detection direction is along the length direction of the rectangle. Based on the parameters of the driving source, the corresponding unit length of the reference coordinate system is set, and the range in which the ultrasonic probe 1 can move, that is, the detection area, is projected into the rectangle, so that the corresponding position information of the trajectory point to be detected can be found in the reference coordinate system.

[0104] Specifically, step S23 includes:

[0105] S231: Determine a candidate area based on an area where the to-be-detected trajectory point exists in the first detection direction.

[0106] Among them, the areas with the trajectory points to be detected along the first detection direction are screened out, and the various areas are distributed along the second detection direction. The areas without the trajectory points to be detected distributed along the first detection direction are excluded. The candidate areas are determined based on the areas including the trajectory points to be detected along the first detection direction to select the initial detection points, which can effectively reduce the screening area and improve the screening efficiency.

[0107] S232: Perform numerical comparison based on the number of the to-be-detected trajectory points in each of the candidate areas, and determine a dense area based on the comparison result.

[0108] Among them, a numerical comparison is further performed on the number of trajectory points to be detected in the candidate area, that is, the area containing the largest number of trajectory points to be detected is determined as a dense area, and then the initial detection point is determined based on the dense area. The possibility of detecting the second detection point and the next reference point based on the dense area is increased, which effectively improves the possibility of obtaining the trajectory points to be detected.

[0109] Specifically, step S4 includes:

[0110] S41, determine whether the initial detection point has a track point to be detected in the second detection direction or the first detection direction, if so, execute step S42, if not, return to step S2.

[0111] S42, determine whether the reference point exists in the second detection direction and whether there is a track point to be detected. If so, execute step S43; if not, return to step S43.

[0112] S43. If yes, determine a second detection point based on the track point to be detected adjacent to the reference point, and update the track point to be detected closest to the reference point in the first detection direction as the reference point, and return to step S42.

[0113] Wherein, based on the initial detection point, it is detected along the second detection direction whether there is a track point to be detected. If there is, it is determined as the second track point to be detected. When the initial detection point along the second detection direction whether there is a track point to be detected has the following conditions:

[0114] First, if there is a trajectory point to be detected on one side of the initial detection point, the ultrasonic probe 1 moves along the second detection direction to the trajectory point to be detected along the second detection direction of the initial detection point under the action of the secondary driving unit, and then moves to the reference point, and then detects whether there is a trajectory point to be detected based on the first detection direction of the reference point, and determines it as the new reference point.

[0115] Secondly, if there are trajectory points to be detected on both sides of the initial detection point, the ultrasonic probe 1, under the action of the secondary drive unit, selects the trajectory point to be detected on one side as the second detection point, and controls the ultrasonic probe 1 to move to the corresponding position, and then controls the ultrasonic probe 1 through the secondary drive unit to move along the second detection direction to the trajectory point to be detected on the other side of the reference point, and determines it as the new second detection point.

[0116] Third, if there are no track points to be detected on both sides of the initial detection point, the initial detection point is re-determined based on the track points to be detected for which the position information of the track points to be detected in the reference coordinate system has not been obtained.

[0117] In this embodiment, by alternately detecting the trajectory points to be detected based on the first detection direction and the second detection direction based on the initial detection point and the reference point, and by detecting the maximum possible number of trajectory points to be detected in the same direction, the switching frequency of the driving source of the ultrasonic probe 1 is reduced, thereby extending the working life of the primary driving unit and the secondary driving unit.

[0118] The principle of this embodiment is: based on the primary drive unit and the secondary drive unit, the first detection direction and the second detection direction are determined along the moving direction of the ultrasonic probe 1. Since the moving range of the ultrasonic probe 1 is based on two-dimensional space, and the trajectory points to be detected are actually based on three-dimensional space, the trajectory points to be detected are converted from three-dimensional space to two-dimensional space by establishing a reference coordinate system. Since the ultrasonic probe 1 is based on different driving sources when moving in the first detection direction and the second detection direction, the maximum number of trajectory points to be detected are detected along one detection direction as much as possible by staggered planning in the first detection direction and the second detection direction based on the reference point, thereby reducing the switching frequency of the driving source and improving the service life of the primary drive unit and the secondary drive unit.

[0119] The present invention provides a method for collecting cerebral blood flow data. The method includes the optimization path generation method of the above embodiment, and further includes the following steps:

[0120] S6. The driving device drives the actuator 3 to collect data based on the detection sequence.

[0121] Among them, reference Figure 4 The driving device indicates the primary driving part and the secondary driving part. Under the action of the driving device, the actuator 3 drives the ultrasonic probe 1 to move along the detection sequence in sequence, and obtains the data corresponding to the trajectory points to be detected, completing the data acquisition. Since the detection sequence is based on reducing the frequency of switching the driving source, it effectively reduces the wear on the driving device and increases the service life of the driving source.

[0122] Specifically, step S6 includes:

[0123] S61. Based on the detection sequence, determine a plurality of detection point pairs distributed in chronological order.

[0124] The detection point pair includes two adjacent track points to be detected in the detection sequence, namely, the reference point and the second detection point in its second detection direction, or a new heating reference point of the reference point along the first detection direction.

[0125] S62: Determine a movement execution path based on the movement modes corresponding to the detection point pairs.

[0126] Wherein, based on the distribution of the to-be-detected trajectory points in the detection point pair along the first detection direction or the second detection direction, it is determined whether the primary drive unit or the secondary drive unit controls the movement of the ultrasonic probe 1 based on the distribution.

[0127] S63 : The driving device drives the actuator 3 to collect data based on the execution path.

[0128] Among them, the movement mode includes movement in a first direction and movement in a second direction; the driving device includes a primary driving unit corresponding to movement in the first direction and a secondary driving unit corresponding to movement in the second direction, that is, the first direction is associated with the first detection direction, and the second direction is associated with the second detection direction.

[0129] Specifically, the second direction movement includes a second sequential movement and a second cross-region movement, and the secondary driving part includes a sequential driving member corresponding to the second sequential movement and a cross-region driving member corresponding to the second cross-region movement.

[0130] Among them, when the ultrasonic probe 1 moves along the first detection direction, the ultrasonic probe 1 can be controlled to move longitudinally, and when the ultrasonic probe 1 moves along the second detection direction, the ultrasonic probe 1 can move laterally or in a swinging manner. When the execution path between the detection point pairs spans more than two unit lengths of the reference coordinate system, the ultrasonic probe 1 is moved between the detection point pairs by controlling the laterally moving ultrasonic probe 1, and when the distance between the detection point pairs based on the second detection direction is less than one unit length of the reference coordinate system, the ultrasonic probe 1 is controlled to move in a swinging manner.

[0131] It is worth noting that when the detection point pairs are distributed based on the second detection direction, the lateral movement can be used instead of the swinging movement. Adding the swinging movement can effectively reduce the working intensity of the driving member that controls the lateral movement.

[0132] The principle of this embodiment is: the driving device drives the actuator 3 to collect data on the trajectory points to be detected based on the detection sequence. By sorting the detection sequence in a manner to reduce the switching of the driving source, the driving device drives the actuator 3 to collect data on the trajectory points to be detected, which can effectively improve the service life of the driving source.

[0133] The embodiment of the present application provides an optimized path generation device, which corresponds one-to-one to the optimized path generation method in the above embodiment.

[0134] Reference Figure 5 , the optimized path generating device includes:

[0135] A direction determination module 100 is configured to determine a first detection direction and a second detection direction; wherein the first detection direction and the second detection direction are perpendicular to each other, and the first detection direction and the second detection direction are related to the movement direction of the driving device;

[0136] The initial detection point positioning module 200 is electrically connected to the direction determination module 100 and is used to determine the initial detection point based on the to-be-detected track point located at the edge position of the to-be-detected point set in the first detection direction;

[0137] The base point selection module 300 is electrically connected to the initial detection point positioning module 200 and is used to determine the reference point based on the position of the initial detection point;

[0138] The point acquisition module 400 is electrically connected to the base point selection module 300 and is used to sequentially and alternately determine a plurality of to-be-detected trajectory points adjacent to the reference point as a plurality of second detection points in the second detection direction and the first detection direction;

[0139] The sorting generation module 500 is electrically connected to the point acquisition module 400 and is used to sort each initial detection point and each second detection point based on the acquisition time corresponding to the initial detection point and the acquisition time corresponding to the second detection point to determine the detection sequence.

[0140] The optimized path generation device provided in this embodiment can implement the various steps of the optimized path generation method of the aforementioned embodiment due to the functions of its modules themselves and the logical connections between each other, and thus can achieve the same technical effects as the aforementioned optimized path generation method. The principle analysis can be found in the relevant description of the aforementioned method steps, and will not be repeated here.

[0141] The embodiment of the present application provides a cerebral blood flow data acquisition system, which corresponds one-to-one to the cerebral blood flow data acquisition method in the above embodiment.

[0142] Reference Figure 6 , the cerebral blood flow data acquisition system includes:

[0143] A direction determination module 100 is configured to determine a first detection direction and a second detection direction; wherein the first detection direction and the second detection direction are perpendicular to each other, and the first detection direction and the second detection direction are related to the movement direction of the driving device;

[0144] The initial detection point positioning module 200 is electrically connected to the direction determination module 100 and is used to determine the initial detection point based on the to-be-detected track point located at the edge position of the to-be-detected point set in the first detection direction;

[0145] The base point selection module 300 is electrically connected to the initial detection point positioning module 200 and is used to determine the reference point based on the position of the initial detection point;

[0146] The point acquisition module 400 is electrically connected to the base point selection module 300 and is used to sequentially and alternately determine a plurality of to-be-detected trajectory points adjacent to the reference point as a plurality of second detection points in the second detection direction and the first detection direction;

[0147] The sorting generation module 500 is electrically connected to the point acquisition module 400 and is used to sort the initial detection points and the second detection points based on the acquisition time corresponding to the initial detection point and the acquisition time corresponding to the second detection point to determine the detection sequence;

[0148] The driving mechanism 600 is electrically connected to the sequence generation module 500 and is used to drive the actuator 3 to collect data based on the detection sequence.

[0149] The cerebral blood flow data acquisition system provided in this embodiment can implement each step of the cerebral blood flow data acquisition method of the aforementioned embodiment due to the functions of its modules themselves and the logical connections between each other, and thus can achieve the same technical effects as the cerebral blood flow data acquisition method. The principle analysis can be found in the relevant description of the aforementioned method steps, which will not be repeated here.

[0150] The above are only some of the implementation methods of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for generating an optimized path, characterized in that: include: S1. Determine a first detection direction and a second detection direction, wherein the first detection direction and the second detection direction have an included angle therebetween, the first detection direction is associated with a primary drive unit, and the second detection direction is associated with a secondary drive unit; S2. Determine an initial detection point based on a track point to be detected located at an edge position of a set of track points to be detected in the first detection direction, wherein the set of track points to be detected includes a plurality of track points to be detected, and the track points to be detected are used to indicate positions where data collection is required; S3. Determine a reference point based on the position of the initial detection point; S4, based on the second detection direction and the first detection direction, sequentially and alternately determining a plurality of the to-be-detected trajectory points adjacent to the reference point as second detection points; S5. Sort the initial detection points and the second detection points based on the acquisition time corresponding to the initial detection point and the acquisition time corresponding to the second detection point to determine a detection sequence; Step S2 includes: S21, obtaining the set of points to be detected; S22, projecting the set of points to be detected into a reference coordinate system, wherein the reference coordinate system is established based on the first detection direction and the second detection direction; S23, performing point distribution analysis in the first detection direction based on the set of points to be detected to determine a dense area; S24, determining a reference point based on the to-be-detected track point located at an edge position of the dense area in the first detection direction; Step S4 includes: S41, determining whether the initial detection point has the track point to be detected in the second detection direction or the first detection direction, if yes, executing step S42, if no, returning to step S2; S42, determining whether the reference point has the track point to be detected in the second detection direction; S43, if yes, determine a second detection point based on the track point to be detected adjacent to the reference point, and update the track point to be detected closest to the reference point in the first detection direction as the reference point, and return to step S42; Step S22 includes: establishing the reference coordinate system based on the detection area, the first detection direction and the second detection direction, wherein the detection area is associated with the mounting member (2) for fixing the primary drive unit and the secondary drive unit; the detection area refers to the range within which the ultrasound probe can move under the action of the primary drive unit and the secondary drive unit, and the mounting member is used to fix the primary drive unit and the secondary drive unit, and the mounting member rubs against the head of the tester to maintain a relatively stable positional relationship between the ultrasound probe and the tester, and is ultimately used to collect cerebral blood flow data.

2. The method for generating an optimized path according to claim 1, wherein: Step S23 includes: S231, determining candidate areas based on areas where the to-be-detected trajectory points exist in the first detection direction, wherein each candidate area is distributed along the second detection direction; S232: Perform numerical comparison based on the number of the to-be-detected trajectory points in each of the candidate areas, and determine a dense area based on the comparison result.

3. A cerebral blood flow data acquisition method, characterized in that: The method comprises an optimized path generation method as claimed in any one of claims 1 or 2, wherein the cerebral blood flow data acquisition method comprises: S6, the driving device drives the actuator (3) to perform data acquisition based on the detection sequence.

4. The cerebral blood flow data acquisition method according to claim 3, characterized in that: Step S6 includes: S61, based on the detection sequence, determining a plurality of detection point pairs distributed in chronological order, wherein the detection point pairs include two adjacent trajectory points to be detected in the detection sequence; S62, determining a movement execution path based on the movement modes corresponding to the detection point pairs; S63, the driving device drives the actuator (3) to collect data based on the execution path; Wherein, the movement mode includes movement in a first direction and movement in a second direction; the driving device includes the primary driving part corresponding to movement in the first direction and the secondary driving part corresponding to movement in the second direction.

5. The cerebral blood flow data acquisition method according to claim 4, characterized in that: The second-direction movement includes a second sequential movement and a second cross-region movement, and the secondary driving portion includes a sequential driving member corresponding to the second sequential movement and a cross-region driving member corresponding to the second cross-region movement.

6. An optimized path generation device, characterized in that: An optimized path generation method according to any one of claims 1 or 2, wherein the optimized path generation device comprises: A direction determination module (100) is used to determine a first detection direction and a second detection direction; wherein the first detection direction and the second detection direction are perpendicular to each other, and the first detection direction and the second detection direction are related to the movement direction of the driving device; An initial detection point positioning module (200) is used to determine an initial detection point based on a track point to be detected located at an edge position of a set of detection points in a first detection direction; A base point selection module (300) is used to determine a base point based on the position of the initial detection point; A point position acquisition module (400) is used to sequentially and alternately determine a plurality of to-be-detected track points adjacent to a reference point as a plurality of second detection points in a second detection direction and a first detection direction; The sorting generation module (500) is used to sort each initial detection point and each second detection point based on the acquisition time corresponding to the initial detection point and the acquisition time corresponding to the second detection point, and determine the detection sequence.

7. A cerebral blood flow data acquisition system, characterized in that: A cerebral blood flow data acquisition method according to any one of claims 3 to 5, wherein the cerebral blood flow data acquisition system comprises: A direction determination module (100) is used to determine a first detection direction and a second detection direction; wherein the first detection direction and the second detection direction are perpendicular to each other, and the first detection direction and the second detection direction are related to the movement direction of the driving device; An initial detection point positioning module (200) is used to determine an initial detection point based on a track point to be detected located at an edge position of a set of detection points in a first detection direction; A base point selection module (300) is used to determine a base point based on the position of the initial detection point; A point position acquisition module (400) is used to sequentially and alternately determine a plurality of to-be-detected track points adjacent to a reference point as a plurality of second detection points in a second detection direction and a first detection direction; A sorting generation module (500) is used to sort each initial detection point and each second detection point based on the acquisition time corresponding to the initial detection point and the acquisition time corresponding to the second detection point, and determine a detection sequence; The driving module (600) is used to drive the actuator (3) to collect data based on the detection sequence.

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