Automatic breast screening system and storage medium

Abstract

The embodiment of the present invention discloses an automatic breast screening system and a storage medium, the system includes a binocular vision device, an ultrasonic device, a first mechanical arm, a second mechanical arm, a puncture device, a processor, a memory, and a computer program stored in the memory, and the processor implements the following steps when executing the computer program: obtaining two current images of the patient's breast through the binocular vision device, and determining the position of the breast in the two current images in a first coordinate system to obtain the breast position; controlling the first mechanical arm to drive the scanning box of the ultrasonic device to move to the breast position, and controlling the scanning box to complete the ultrasonic image acquisition of the patient's breast; when it is detected that there is a lesion in the ultrasonic image and the lesion meets the preset puncture conditions, determining the target position of the lesion in the first coordinate system; and controlling the second mechanical arm to drive the puncture device to perform a puncture operation on the lesion according to the target position. The problem of low accuracy in the existing automatic breast cancer screening method is solved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of medical equipment, and in particular to an automatic breast screening system and a storage medium. Background Art

[0002] The survival of breast cancer patients is closely related to the pathological stage. The earlier the pathological stage, the higher the cure rate. Therefore, early diagnosis is particularly important in the absence of a good strategy for primary prevention of breast cancer. Many studies have shown that large-scale breast cancer screening can detect more early cases and gradually reduce the mortality rate against the background of rising prevalence. In recent years, ultrasound technology has flourished, especially ultrasound technology for breast examination. Due to its good sensitivity to dense breast tissue, it has become an important examination method for clinically recommended and screening early breast lesions. Automatic breast full volume imaging, or ABUS technology, is considered to be the best ultrasound scanning technology that can cover the entire breast tissue. Automatic breast full volume imaging obtains full volume images of the breast through automatic scanning, which can display lesions in multiple planes and angles, making the imaging of lesions more three-dimensional and intuitive. Automatic breast full volume imaging has a great advantage in the characteristic manifestations of breast malignant disease lesions with its unique coronal images, which improves the accuracy of diagnosis.

[0003] The current automatic breast ultrasound screening method only acquires two-dimensional ultrasound images and has a low accuracy rate.

[0004] The applicant discovered during the process of implementing the embodiments of the present invention that the existing automatic screening methods for breast cancer at least have the problem of low accuracy. Summary of the invention

[0005] The embodiments of the present invention provide a breast automatic screening system and a storage medium, which solve the problem of low accuracy in existing breast cancer automatic screening methods.

[0006] In a first aspect, an embodiment of the present invention provides an automatic breast screening system, comprising a binocular vision device, an ultrasound device, a first robotic arm, a second robotic arm, a puncture device, a processor, a memory, and a computer program stored in the memory, wherein when the processor executes the computer program, the following steps are implemented:

[0007] Acquire two current images of the patient's breast through a binocular vision device, and determine the position of the breast in the two current images in a first coordinate system to obtain the breast position;

[0008] Controlling the first mechanical arm to drive the scanning box of the ultrasound device to move to the breast position, and controlling the scanning box to complete the acquisition of the ultrasound image of the patient's breast;

[0009] When a lesion is detected in the ultrasound image and the lesion meets the preset puncture condition, determining a target position of the lesion in the first coordinate system;

[0010] According to the target position, the second mechanical arm is controlled to drive the puncture device to perform a puncture operation on the lesion. In a second aspect, an embodiment of the present invention further provides a storage medium containing computer executable instructions, and the computer executable instructions are used to perform the following method when executed by a computer processor:

[0011] Acquire two current images of the patient's breast through a binocular vision device, and determine the position of the breast in the two current images in a first coordinate system to obtain the breast position;

[0012] Controlling the first mechanical arm to drive the scanning box of the ultrasound device to move to the breast position, and controlling the scanning box to complete the acquisition of the ultrasound image of the patient's breast;

[0013] When a lesion is detected in the ultrasound image and the lesion meets the preset puncture condition, determining a target position of the lesion in the first coordinate system;

[0014] According to the target position, the second mechanical arm is controlled to drive the puncture device to perform a puncture operation on the lesion. The technical solution of the breast screening method provided by the embodiment of the present invention obtains two current images of the patient's breast through a binocular vision device, and determines the position of the patient's breast in the first coordinate system according to the two current images to obtain the breast position; the first mechanical arm is controlled to drive the scanning box of the ultrasonic device to move to the breast position, and the scanning box is controlled to complete the ultrasonic image acquisition of the patient's breast; when the ultrasonic image is detected to have a lesion and the lesion meets the preset puncture conditions, the target position of the lesion in the first coordinate system is determined; according to the target position, the second mechanical arm is controlled to drive the puncture device to perform a puncture operation on the lesion. The automatic puncture and biopsy operation of the breast is guided by the automatically acquired ultrasonic image, which improves the efficiency and accuracy of breast puncture and biopsy, reduces the dependence on the experience of medical staff, makes large-scale group breast cancer screening possible, and helps to increase the popularization speed of breast screening. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0016] Figure 1 is a schematic diagram of an automatic breast screening system provided by Embodiment 1 of the present invention;

[0017] Figure 2is a structural block diagram of an automatic breast screening system provided by Embodiment 1 of the present invention;

[0018] Figure 3 This is a flow chart of the automatic breast screening method provided in Example 1 of the present invention. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described through implementation methods with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] Embodiment 1

[0021] Figure 1 Schematic diagram of the automatic breast screening system provided by the embodiment of the present invention. The technical solution of this embodiment is applicable to the automatic screening of breast cancer. Figure 1 and Figure 2 As shown, the automatic breast screening system includes a binocular vision device 1, a first mechanical arm 2, a second mechanical arm 3, an ultrasonic device 4, a puncture device 5, a processor 6, a memory 7, and a computer program stored in the memory 7. The scanning box 41 of the ultrasonic device 4 is arranged at the free end of the first mechanical arm 2, and the puncture device 5 is arranged at the free end of the second mechanical arm 3. Figure 3 As shown, when the processor 6 executes the computer program, the following steps of the automatic breast screening method are implemented:

[0022] S101. Acquire two current images of a patient's breast through a binocular vision device, and determine the positions of the breasts in the two current images in a first coordinate system to obtain the breast position.

[0023] The binocular vision device 1 can be an existing binocular vision device, and this embodiment is not specifically limited here. Figure 1 As shown, the binocular vision device 1 is used to obtain two current images of the breast of the patient on the scanning bed 8. It can be understood that the two current images are acquired at different viewing angles, and the three-dimensional image of the patient's breast can be determined through the two current images of different viewing angles.

[0024] In one embodiment, two current images of a patient's breast are acquired by a binocular vision device disposed in a first coordinate system; breast segmentation and three-dimensional reconstruction of the two current images are performed based on a preset point cloud algorithm, and a scanning contact area of ​​the patient's breast and a contour of the scanning contact area are determined according to the three-dimensional reconstruction result of the breast.

[0025] Optionally, the binocular vision device 1 , the first robotic arm 2 , and the second robotic arm 3 are set to a coordinate system, namely, a first coordinate system.

[0026] S102: Control the first mechanical arm to drive the scanning box of the ultrasound device to move to the breast position, and control the scanning box to complete the acquisition of the ultrasound image of the patient's breast.

[0027] The ultrasound device in this embodiment is a three-dimensional ultrasound device, such as an automated breast full-volume ultrasound (ABUS). Compared with ordinary ultrasound, three-dimensional ultrasound adds coronal imaging and does not need to rely too much on the operator. This embodiment uses ABUS as an example to illustrate the technical solution. ABUS can obtain a full-volume image of the breast through automatic scanning. The full-volume image can display lesions in multiple layers and angles, making the imaging of the lesions more three-dimensional and intuitive, so as to solve the problem of low accuracy of two-dimensional ultrasound images in breast screening.

[0028] The ultrasound device 4 in this embodiment includes a scanning box 41 and a display device 42. The scanning box 41 includes a scanning probe. During the ultrasound scanning process, the scanning box is placed on the skin of the patient's breast, and the display device 42 is used to display the ultrasound image corresponding to the ultrasound information received by the scanning box. After determining the position of the patient's breast in the first coordinate system, this embodiment controls the first mechanical arm to drive the scanning box of the ultrasound device to move to the breast position, and then controls the scanning box to collect the ultrasound image of the patient's breast.

[0029] In one embodiment, after the breast position of the patient's breast in the first coordinate system is determined, a motion control code for the first robotic arm to drive the scanning box to move from the current position to the vicinity of the breast position is determined, and then the first robotic arm is controlled by the motion code to drive the scanning box to move from the current position to the vicinity of the breast position, so that the scanning box is attached to the breast skin, and then the scanning box is controlled to acquire an ultrasonic image of the patient's breast.

[0030] It is understandable that when the scanning box collects the ultrasound image of the patient's breast, the depth of the scanning box pressing the breast is different, and the depth of the collected ultrasound image is different. In addition, the breast is relatively elastic and the size of different human breasts varies greatly. Therefore, the ultrasound image collected by the scanning box at the breast position and the vicinity of the breast position may not accurately locate the lesion.

[0031] To this end, when the generation of an ultrasound image is detected, this embodiment first determines whether the current ultrasound image is valid. If not, it determines a posture adjustment strategy, adjusts the scanning posture of the scanning box according to the posture adjustment strategy, and controls the scanning box after the scanning posture adjustment to obtain the current ultrasound image of the patient's breast, and then jumps to the step of determining the validity of the current ultrasound image until the current ultrasound image is a valid ultrasound image.

[0032] In one embodiment, after determining the scanning contact area of ​​the patient's breast, that is, after determining the position of the scanning contact area of ​​the patient's breast in the first coordinate system, the current position of the first robotic arm is obtained, and then a motion control code for controlling the movement of the first robotic arm is determined according to the scanning contact area and the current position, and the first robotic arm is controlled to move from the current position to the scanning contact area by the motion control code. When it is detected that the first robotic arm moves to the scanning contact area, the scanning posture of the scanning box is adjusted according to the contour of the scanning contact area of ​​the patient's breast, and the scanning box after the scanning posture adjustment is controlled to perform an ultrasonic acquisition operation on the patient's breast. By adjusting the scanning posture of the scanning box according to the contour of the scanning contact area of ​​the patient's breast, the quality of the ultrasonic image acquired by the scanning box for the first time can be improved, and the number of times the posture of the scanning box is adjusted, thereby improving the acquisition efficiency of the ultrasonic image of the patient's breast.

[0033] S103: When it is detected that a lesion exists in the ultrasound image and the lesion meets the preset puncture condition, determine a target position of the lesion in the first coordinate system.

[0034] In one embodiment, the lesion model is created based on a convolutional neural network, such as based on a 3D-Unet network (i.e., an AI diagnostic algorithm). The training samples of a variety of lesions are input into the lesion model for training to obtain a pre-trained lesion model. It is understandable that the pre-trained lesion model can identify and locate lesions. Optionally, the pre-trained lesion model is also used to output lesion diagnosis results, such as malignant grading. The diagnosis result can be sent to the patient terminal in the form of a WeChat official account, a mini-program, and an APP. In order to facilitate the user to understand the diagnosis result, the diagnosis result is presented in a graphic form.

[0035] In one embodiment, the system will classify the ultrasound diagnosis results of the user into different levels according to the BI-RADS (Breastimaging reporting and data system), so as to provide the user with a more standardized and easy-to-understand diagnosis report. The meaning of each level is as follows:

[0036] Level 0: Recall is required and re-evaluation will be conducted after other inspections;

[0037] Grade I: No abnormality found;

[0038] Grade II: Considered benign changes, regular follow-up (such as once a year) is recommended;

[0039] Grade III: Benign disease is possible, but the follow-up period needs to be shortened (e.g., once every 3 to 6 months);

[0040] Grade IV: There are abnormalities, but the possibility of malignancy cannot be completely ruled out, and biopsy is required for confirmation;

[0041] IVa: Low possibility of malignancy, requiring biopsy for confirmation;

[0042] IVb: moderate possibility of malignancy, requiring biopsy for confirmation;

[0043] IVc: high possibility of malignancy, requiring biopsy for confirmation;

[0044] Grade V: highly suspected malignant lesions (almost confirmed as malignant diseases), requiring surgical excision biopsy;

[0045] Grade VI: Malignant lesions have been confirmed by pathology.

[0046] Clinically, if the BI-RADS grade of the lesion reaches grade 0 or grade 3 or above, a puncture biopsy is required. Therefore, the preset puncture condition in this embodiment is that the BI-RADS grade of the lesion reaches grade 0 or grade 3 or above.

[0047] In one embodiment, the validity of the current ultrasound image is determined based on a pre-trained posture adjustment model. The pre-trained posture adjustment model is used to output a valid mark when the current ultrasound image is valid. When the processor detects the valid mark, it determines whether there is a lesion in the current ultrasound image based on the pre-trained lesion model, and outputs a puncture mark and the position of the lesion in the ultrasound image when there is a lesion, and outputs a mark indicating that the breast is good when there is no lesion. It can be understood that the puncture mark means that the lesion meets the preset puncture conditions, so based on the conversion relationship between the coordinate system where the ultrasound image is located and the first coordinate system, the position of the lesion in the ultrasound image is mapped to the first coordinate system to obtain the target position of the lesion in the first coordinate system.

[0048] In one embodiment, the pre-trained lesion model does not directly output a puncture mark, but outputs the malignancy grade of the breast. When the processor detects that the malignancy grade of the breast meets the preset puncture conditions, the processor maps the position of the lesion in the ultrasound image to the first coordinate system based on the conversion relationship between the coordinate system of the ultrasound image and the first coordinate system to obtain the target position of the lesion in the first coordinate system; when the processor detects that the malignancy grade of the breast output by the pre-trained lesion model does not meet the preset puncture conditions or detects that the pre-trained lesion model outputs an mark indicating that the breast is good, the breast screening process of the current patient is terminated, and a prompt message for ending the breast screening of the current patient is output.

[0049] Regarding the mapping of the lesion position, in one embodiment, two current images of the patient's breast are obtained through a binocular vision device, and the coordinates of the preset position of the scanning box surface in the two current images in the first coordinate system are determined; according to the coordinates of the preset position in the first coordinate system and the positional relationship between the preset position and the preset marking point, the coordinates of the preset marking point in the first coordinate system are determined; then, according to the coordinates of the preset marking point in the first coordinate system and the ultrasound image, respectively, and the positional relationship between the lesion and the preset marking point in the ultrasound image, the coordinates of the lesion in the ultrasound image are mapped to the first coordinate system to obtain the target position of the lesion in the first coordinate system. Among them, the preset marking point is set on the scanning box probe. The preset marking point is a virtual marking point. It can be understood that when the position of the preset marking point on the scanning box probe is determined, its coordinates on the ultrasound image are also determined accordingly.

[0050] S104, controlling the second robotic arm to drive the puncture device to perform a puncture operation on the lesion according to the target position.

[0051] This embodiment is particularly suitable for when the user has been informed that a puncture biopsy is required. In this case, when the processor detects the lesion in the ultrasound image, it re-determines the grade of the lesion. If the grade of the lesion is still grade 0 or grade 3 or above, it directly determines the target position of the lesion in the first coordinate system and performs the puncture biopsy operation according to the target position.

[0052] In one embodiment, the user is not sure in advance whether a biopsy is needed. When the processor detects the lesion in the ultrasound image, it determines the grade of the lesion. If the lesion is graded as 0 or 3 or above, it outputs puncture confirmation information and asks the current patient to confirm whether a puncture biopsy is needed. When the confirmation information of the current patient is detected, the target position of the lesion in the first coordinate system is determined; when the abandonment information of the current patient is detected, the breast screening process of the current patient is ended.

[0053] In one embodiment, after determining the target position of the lesion in the first coordinate system, the current position of the puncture device is obtained, and a motion control code for controlling the second robotic arm to drive the puncture device from the current position to the target position is generated based on the current position and the target position, and the second robotic arm is controlled to drive the puncture device from the current position to the target position through the motion control code; when it is detected that the puncture device moves to the target position, a puncture control code is generated, and the puncture control code is used to control the second robotic arm to operate the puncture device to complete the puncture and biopsy operation of the lesion.

[0054] In one embodiment, after determining the target position of the lesion in the first coordinate system, the puncture needle position of the patient's breast is determined according to the target position, and the current position of the puncture device is obtained at the same time. Then, according to the current position and the target position, a motion control code for controlling the second mechanical arm to drive the puncture device to move from the current position to the puncture needle position is generated, and the second mechanical arm is controlled to drive the puncture device from the current position to the motion needle position by the motion control code. When the puncture device is detected to move to the vicinity of the motion needle position, the current position of the puncture device is obtained again, and then a motion control code for fine-tuning the position of the second mechanical arm is generated, and then the second mechanical arm is controlled to perform fine-tuning by the motion control code so that the puncture device moves accurately from the current position to the puncture needle position. It can be understood that in order to make the second mechanical arm move accurately to the puncture needle position, the second mechanical arm can be fine-tuned once or multiple times, and when it is detected that the second mechanical arm moves accurately to the puncture needle position, the second mechanical arm is controlled to perform the puncture biopsy operation on the breast lesion. By fine-tuning the position of the second robotic arm, the second robotic arm can accurately drive the puncture device to the puncture needle insertion position, which helps to improve the accuracy of the second robotic arm controlling the puncture device to puncture and take a biopsy.

[0055] In one embodiment, the system further includes an information entry module and a call number module. The information entry module is used to obtain the patient's medical information, such as reading the ID card information through a chip, or manually entering the patient's identity information. It is understandable that the latter can be manually entered through a terminal device. A screening sequence number of the patient is generated based on the medical information and the time when the medical information is obtained, and the patient is added to the screening waiting sequence based on the screening sequence number of the patient.

[0056] The calling module is used to output the medical information of the current patient in the screening waiting sequence to the display screen; when receiving the patient's confirmation information, the examination start information is output to ensure that the screening work is carried out in an orderly manner. In one embodiment, the user terminal is connected to the breast ultrasound screening system through a wireless network. For example, the user terminal logs in to the corresponding public account on WeChat to establish a communication connection with the service center; or establishes a communication connection with the service center through the corresponding APP. In this way, the user can receive the calling information from the service center through the public account or APP. Of course, in addition to receiving the calling signal, the user can also receive account information, ultrasound images, and diagnosis results.

[0057] In one embodiment, in order to achieve better health management, the diagnosis results of each user are stored in the account information of the database, and the subsequent screening arrangements and medical information related to women's health are pushed to the user according to the user's diagnosis results. For example, if the user's screening results are BI-RADS 1 and BI-RADS 2, it can be considered that the user's breast is currently in a normal state, but it cannot be guaranteed that there will be no breast disease in the future. In this case, one year after this examination, the system will send a reminder message to the user to remind the user to conduct breast cancer screening in the second year in time.

[0058] The technical solution of the breast screening method provided by the embodiment of the present invention obtains two current images of the patient's breast through a binocular vision device, and determines the position of the breast in the two current images in a first coordinate system to obtain the breast position; controls the first mechanical arm to drive the scanning box of the ultrasonic device to move to the breast position, and controls the scanning box to complete the ultrasonic image acquisition of the patient's breast; when it is detected that there is a lesion in the ultrasonic image and the lesion meets the preset puncture conditions, determines the target position of the lesion in the first coordinate system; controls the second mechanical arm to drive the puncture device to perform a puncture operation on the lesion according to the target position. The second mechanical arm is guided by the automatically acquired ultrasonic image of the patient's breast to automatically complete the puncture and biopsy operation of the patient's breast, which improves the efficiency and accuracy of breast puncture and biopsy, reduces the dependence on the experience of medical staff, makes large-scale group breast cancer screening possible, and helps to increase the popularization speed of breast screening.

[0059] Embodiment 2

[0060] The embodiment of the present invention further provides a storage medium containing computer executable instructions, wherein the computer executable instructions are used to perform the following automatic breast screening method when executed by a computer processor, including:

[0061] Acquire two current images of the patient's breast through a binocular vision device, and determine the position of the breast in the two current images in a first coordinate system to obtain the breast position;

[0062] Controlling the first mechanical arm to drive the scanning box of the ultrasound device to move to the breast position, and controlling the scanning box to complete the acquisition of the ultrasound image of the patient's breast;

[0063] When a lesion is detected in the ultrasound image and the lesion meets the preset puncture condition, determining a target position of the lesion in the first coordinate system;

[0064] According to the target position, the second mechanical arm is controlled to drive the puncture device to perform a puncture operation on the lesion.

[0065] Of course, the storage medium containing computer executable instructions provided by an embodiment of the present invention is not limited to the method operations described above, and the computer executable instructions can also execute related operations in the automatic breast screening method provided by any embodiment of the present invention.

[0066] Through the above description of the implementation methods, technicians in the relevant field can clearly understand that the present invention can be implemented with the help of software and necessary general hardware, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (RandomAccess Memory, referred to as RAM), flash memory (FLASH), hard disk or optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform the automatic breast screening method described in each embodiment of the present invention.

[0067] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. An automatic breast screening system, characterized in that: The device comprises a binocular vision device, an ultrasonic device, a first mechanical arm, a second mechanical arm, a puncture device, a processor, a memory, and a computer program stored in the memory. When the processor executes the computer program, the processor implements the following steps: Acquire two current images of the patient's breast through a binocular vision device, and determine the position of the breast in the two current images in a first coordinate system to obtain the breast position; Controlling the first mechanical arm to drive the scanning box of the ultrasound device to move to the breast position, and controlling the scanning box to complete the acquisition of the ultrasound image of the patient's breast; When a lesion is detected in the ultrasound image and the lesion meets the preset puncture condition, determining a target position of the lesion in the first coordinate system; According to the target position, the second robotic arm is controlled to drive the puncture device to perform a puncture operation on the lesion; Wherein, determining the target position of the lesion in the first coordinate system includes: acquiring two current images of the patient's breast through a binocular vision device; Determine the coordinates of the preset position of the surface of the scanning box in the two current images in the first coordinate system; Determine the coordinates of the preset mark point in the first coordinate system according to the coordinates of the preset position in the first coordinate system and the positional relationship between the preset position and the preset mark point, wherein the preset mark point is set on the scanning box probe; According to the coordinates of the preset marking point in the first coordinate system and in the ultrasound image, respectively, and the positional relationship between the lesion in the ultrasound image and the preset marking point, the coordinates of the lesion in the ultrasound image are mapped to the first coordinate system to obtain a target position of the lesion in the first coordinate system; The method of acquiring two current images of the patient's breast through a binocular vision device and determining the positions of the breasts in the two current images in a first coordinate system to obtain the breast positions includes: Acquire two current images of the patient's breast through a binocular vision device arranged in a first coordinate system; Performing breast segmentation and breast three-dimensional reconstruction on the two current images based on a preset point cloud algorithm, and determining a scanning contact area of ​​the patient's breast and a contour of the scanning contact area according to the breast three-dimensional reconstruction result; The controlling the first mechanical arm to drive the scanning box of the ultrasound device to move to the breast position, and controlling the scanning box to complete the ultrasound image acquisition of the patient's breast, comprises: Controlling the first mechanical arm to drive the scanning box of the ultrasonic device to move to the scanning contact area; The scanning posture of the scanning box is adjusted according to the contour of the scanning contact area, and the scanning box is controlled to complete the acquisition of the ultrasonic image of the patient's breast.

2. The automatic breast screening system according to claim 1, characterized in that: When a lesion is detected in the ultrasound image and the lesion meets the preset puncture condition, determining the target position of the lesion in the first coordinate system includes: Determine whether the current ultrasound image is valid; If so, the lesion in the ultrasound image is detected, and when the lesion in the ultrasound image is detected and the lesion meets the preset puncture condition, the target position of the lesion in the first coordinate system is determined.

3. The automatic breast screening system according to claim 2, characterized in that: After determining whether the current ultrasound image is valid, the method further includes: If not, determine the posture adjustment strategy, adjust the scanning posture of the scanning box according to the posture adjustment strategy, and control the scanning box after the scanning posture adjustment to obtain the current ultrasound image of the patient's breast, and return to the step of determining whether the current ultrasound image is valid.

4. The automatic breast screening system according to claim 3, characterized in that: The step of determining whether the current ultrasound image is valid, and if not, determining a posture adjustment strategy, includes: determining the validity of the current ultrasound image based on a pre-trained posture adjustment model; The pre-trained posture adjustment model outputs a posture adjustment strategy when the current ultrasound image is invalid, and outputs a valid mark when the current ultrasound image is valid.

5. The automatic breast screening system according to claim 4, characterized in that: The detecting of the lesion in the ultrasound image, and when the lesion in the ultrasound image is detected and the lesion meets the preset puncture condition, determining the target position of the lesion in the first coordinate system includes: When a valid marker is detected, the ultrasound image is input into a pre-trained lesion model; When it is detected that the pre-trained lesion model outputs the puncture mark and the position of the lesion in the ultrasound image, based on the conversion relationship between the coordinate system where the ultrasound image is located and the first coordinate system, the position of the lesion in the ultrasound image is mapped to the first coordinate system to obtain the target position of the lesion in the first coordinate system.

6. The automatic breast screening system according to claim 5, characterized in that: The pre-trained lesion model is also used to determine and output breast malignancy grading results.

7. The automatic breast screening system according to any one of claims 1 to 6, characterized in that: The step of controlling the second mechanical arm to drive the puncture device to perform a puncture operation on the lesion according to the target position includes: Determining a puncture needle insertion position of the patient's breast according to the target position; According to the puncture needle position, the second mechanical arm is controlled to drive the puncture device to perform a puncture biopsy operation on the lesion.

8. A storage medium containing computer executable instructions, characterized in that: The computer executable instructions, when executed by a computer processor, are used to perform the following method: Acquire two current images of the patient's breast through a binocular vision device, and determine the position of the breast in the two current images in a first coordinate system to obtain the breast position; Controlling the first mechanical arm to drive the scanning box of the ultrasound device to move to the breast position, and controlling the scanning box to complete the acquisition of the ultrasound image of the patient's breast; When a lesion is detected in the ultrasound image and the lesion meets the preset puncture condition, determining a target position of the lesion in the first coordinate system; According to the target position, the second robotic arm is controlled to drive the puncture device to perform a puncture operation on the lesion; Wherein, determining the target position of the lesion in the first coordinate system includes: acquiring two current images of the patient's breast through a binocular vision device; Determine the coordinates of the preset position of the surface of the scanning box in the two current images in the first coordinate system; Determine the coordinates of the preset mark point in the first coordinate system according to the coordinates of the preset position in the first coordinate system and the positional relationship between the preset position and the preset mark point, wherein the preset mark point is set on the scanning box probe; According to the coordinates of the preset marking point in the first coordinate system and in the ultrasound image, respectively, and the positional relationship between the lesion in the ultrasound image and the preset marking point, the coordinates of the lesion in the ultrasound image are mapped to the first coordinate system to obtain a target position of the lesion in the first coordinate system; The method of acquiring two current images of the patient's breast through a binocular vision device and determining the positions of the breasts in the two current images in a first coordinate system to obtain the breast positions includes: Acquire two current images of the patient's breast through a binocular vision device arranged in a first coordinate system; Performing breast segmentation and breast three-dimensional reconstruction on the two current images based on a preset point cloud algorithm, and determining a scanning contact area of ​​the patient's breast and a contour of the scanning contact area according to the breast three-dimensional reconstruction result; The controlling the first mechanical arm to drive the scanning box of the ultrasound device to move to the breast position, and controlling the scanning box to complete the ultrasound image acquisition of the patient's breast, comprises: Controlling the first mechanical arm to drive the scanning box of the ultrasonic device to move to the scanning contact area; The scanning posture of the scanning box is adjusted according to the contour of the scanning contact area, and the scanning box is controlled to complete the acquisition of the ultrasonic image of the patient's breast.

Images