An ultrasound imaging positioning system, method, apparatus, device, and storage medium

Abstract

The application discloses an ultrasonic imaging positioning system, method, device and storage medium, and relates to the technical field of ultrasonic imaging positioning, and solves the technical problem that an ultrasonic image cannot be positioned.

Description

Technical Field

[0001] This invention relates to the field of ultrasound imaging technology, and in particular to an ultrasound imaging positioning system, method, apparatus, device, and storage medium. Background Technology

[0002] In recent years, ultrasound examination has become one of the main auxiliary means for doctors' diagnosis due to its safety, convenience, non-invasiveness, and low cost. However, current ultrasound equipment lacks spatial information during the scanning process and cannot accurately record the spatial position and cross-section of the probe on the human body, making it difficult to interpret ultrasound images and acquire surrounding ultrasound images. Summary of the Invention

[0003] This invention provides an ultrasound imaging positioning system, method, device, equipment, and storage medium to solve the technical problem of ultrasound image positioning failure, achieve accurate positioning of ultrasound images, facilitate secondary interpretation of ultrasound images, and acquire surrounding ultrasound images.

[0004] According to one aspect of the present invention, an ultrasonic imaging positioning system is provided, comprising an ultrasonic probe, a position information acquisition device, and a processor, wherein:

[0005] An ultrasonic probe is used to transmit and receive ultrasonic signals during ultrasonic testing, and to send the received ultrasonic signals to a processor.

[0006] Location information acquisition device, used to acquire the location information of the target object at each time point within the ultrasonic signal acquisition period, and send the target object location information to the processor;

[0007] The processor is used to generate ultrasound images of each section based on the ultrasound signal, determine the target scanning area of ​​the ultrasound probe based on the target object location information, and determine the correlation between each ultrasound image and the spatial position within the target scanning area based on the time point.

[0008] Optionally, based on the above scheme, the location information acquisition device is a visual positioning and capture device, with multiple marker points set on the ultrasonic probe to acquire the target object's location information at each time point within the ultrasonic signal acquisition period, including:

[0009] Capture the coordinates of the target markers at each time point within the ultrasonic signal acquisition period, and use the coordinates of the target markers as the location information of the target object;

[0010] Accordingly, the target scanning area of ​​the ultrasound probe is determined based on the location information of the target object, including:

[0011] For each time point, the center position and chamfer of the bottom of the ultrasound probe are determined based on the coordinates of the target marker point, and the cross-sectional scanning area of ​​the ultrasound probe is determined based on the center position and chamfer.

[0012] The target scanning area of ​​the ultrasound probe is determined based on the cross-sectional scanning area of ​​the ultrasound probe at each time point.

[0013] Optionally, based on the above scheme, the center position of the marker point coincides with the center position of the top of the ultrasound probe. The center position and chamfer of the bottom of the ultrasound probe are determined according to the coordinates of the target marker point, including:

[0014] The relative position offset between each marker point is determined based on the target marker point position coordinates, and the chamfer angle of the ultrasonic probe is determined based on the relative position offset between each marker point.

[0015] The center coordinates of the marker points are determined based on the target marker point position coordinates of each marker point. The center position of the bottom end of the ultrasonic probe is determined based on the center coordinates of the marker points, the length parameters of the ultrasonic probe, and the chamfer.

[0016] Optionally, based on the above scheme, the cross-sectional scanning area of ​​the ultrasound probe is determined based on the center position and the cutting angle, including:

[0017] The scanning area is defined by taking the center position as the center, the width parameter of the ultrasound probe as the area width, and the tangent angle as the angle.

[0018] Optionally, based on the above scheme, the correlation between the spatial locations of each ultrasound image and the target scanning area is determined based on time points, including:

[0019] The spatial location of the cross-sectional scanning area corresponding to the time point in the target scanning area is associated with the ultrasound image corresponding to the time point at the same time point.

[0020] Optionally, based on the above scheme, the coordinates of the target marker points at each time point within the ultrasound signal acquisition period are captured, including:

[0021] Obtain the initial marker point position coordinates in the device coordinate system collected by the visual positioning and capture device, and perform coordinate transformation on the initial marker point position coordinates to obtain the target marker point position coordinates in the spatial coordinate system.

[0022] According to another aspect of the present invention, an ultrasound imaging localization method is provided, executed by a processor in an ultrasound imaging localization system provided in any embodiment of the present invention, the method comprising:

[0023] The system receives location information from the ultrasonic signal acquisition device, which transmits ultrasonic signals at various points in time within the acquisition period, as well as ultrasonic signals transmitted by the ultrasonic probe.

[0024] Ultrasonic images of each section are generated based on the ultrasonic signal. The target scanning area of ​​the ultrasonic probe is determined based on the location information of the target object. The correlation between each ultrasonic image and the spatial position within the scanning area is determined based on the time point.

[0025] According to another aspect of the present invention, an ultrasound imaging positioning device is provided, disposed in the processor of the ultrasound imaging positioning system provided in any embodiment of the present invention, the device comprising:

[0026] The signal receiving module is used to receive the target object location information at each time point within the ultrasonic signal acquisition period sent by the location information acquisition device, as well as the ultrasonic signal sent by the ultrasonic probe.

[0027] The image location association module is used to generate ultrasound images of each section based on the ultrasound signal, determine the target scanning area of ​​the ultrasound probe based on the target object location information, and determine the spatial relationship between each ultrasound image and the scanning area based on the time point.

[0028] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0029] At least one processor; and

[0030] A memory that is communicatively connected to at least one processor; wherein,

[0031] The memory stores a computer program that can be executed by at least one processor, such that the at least one processor is able to perform the ultrasound imaging localization method of any embodiment of the present invention.

[0032] According to another aspect of the present invention, a computer-readable storage medium is provided, which stores computer instructions for causing a processor to execute and implement the ultrasound imaging positioning method of any embodiment of the present invention.

[0033] This invention provides an ultrasonic imaging positioning system, including an ultrasonic probe, a location information acquisition device, and a processor. The ultrasonic probe emits and receives ultrasonic signals during ultrasonic testing and sends the received ultrasonic signals to the processor. The location information acquisition device acquires the location information of the target object at various time points within the ultrasonic signal acquisition period and sends this location information to the processor. The processor generates ultrasonic images of various cross-sections based on the ultrasonic signals, determines the target scanning area of ​​the ultrasonic probe based on the target object location information, and determines the spatial relationship between each ultrasonic image and the target scanning area based on time points. By acquiring the target object location information through the location information acquisition device during ultrasonic signal acquisition, thereby determining the scanning area of ​​the ultrasonic probe, and associating the ultrasonic images with the scanning area based on time points, the technical problem of ultrasonic image positioning failure is solved, achieving accurate ultrasonic image positioning and facilitating secondary interpretation of ultrasonic images and acquisition of surrounding ultrasonic images.

[0034] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is a schematic diagram of the structure of an ultrasonic imaging positioning system provided in Embodiment 1 of the present invention;

[0037] Figure 2 This is a flowchart of an ultrasonic imaging positioning method provided in Embodiment 2 of the present invention;

[0038] Figure 3 This is a schematic diagram of the structure of an ultrasonic imaging positioning device provided in Embodiment 3 of the present invention;

[0039] Figure 4 This is a schematic diagram of the structure of an electronic device provided in Embodiment 4 of the present invention. Detailed Implementation

[0040] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0041] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0042] Example 1

[0043] Figure 1 This is a schematic diagram of an ultrasound imaging positioning system provided in Embodiment 1 of the present invention. The ultrasound imaging positioning system provided in this embodiment can be used for ultrasound scanning imaging and ultrasound image positioning. Figure 1 As shown, the system includes an ultrasonic probe 10, a location information acquisition device 20, and a processor 30, wherein:

[0044] The ultrasonic probe 10 is used to transmit and receive ultrasonic signals during ultrasonic testing and to send the received ultrasonic signals to the processor.

[0045] Location information acquisition device 20 is used to acquire the location information of the target object at each time point within the ultrasonic signal acquisition period, and send the target object location information to the processor;

[0046] The processor 30 is used to generate ultrasound images of each section based on the ultrasound signal, determine the target scanning area of ​​the ultrasound probe based on the target object location information, and determine the correlation between each ultrasound image and the spatial position within the target scanning area based on the time point.

[0047] In order to achieve ultrasound image localization, this invention determines the scanning area of ​​the ultrasound probe at each time point within the acquisition period after ultrasound signal acquisition. This allows the spatial location of the ultrasound image and the acquired ultrasound signal to be correlated through time points, thus achieving spatial localization of the ultrasound image. The scanning area of ​​the ultrasound probe can be determined based on the position and angle of the ultrasound probe during ultrasound signal acquisition, and the position and angle of the ultrasound probe can be obtained through a position information acquisition device.

[0048] Overall, during ultrasound signal acquisition, the ultrasound probe emits ultrasound waves and receives the reflected ultrasound signals from the scanned object. The received ultrasound signals are then sent to the processor. Simultaneously, the target object's location information is acquired through an information acquisition device and sent to the processor. The processor obtains ultrasound images of each section based on the received ultrasound signals, calculates the scanning area at each time point based on the target object's location information, and correlates the ultrasound images with the spatial positions within the scanning area based on the time points, thus achieving spatial positioning of the ultrasound image.

[0049] It should be noted that the number of processors is not limited in this embodiment. One or more processors can be used to generate ultrasound images, determine the target scanning area of ​​the ultrasound probe, and correlate the spatial positions of the ultrasound images and the target scanning area.

[0050] Optionally, there can be only one processor, which is used for generating ultrasound images, determining the target scanning area of ​​the ultrasound probe, and correlating the spatial positions of the ultrasound images and the target scanning area. When there is only one processor, it can be configured in a computer device. Accordingly, the ultrasound imaging positioning system includes an ultrasound probe, a location information acquisition device, and a computer device.

[0051] Optionally, the number of processors can also be two, such as a first processor and a second processor. The first processor receives the ultrasonic signals sent by the ultrasonic probe, generates ultrasonic images of various sections based on the ultrasonic signals, and sends the generated ultrasonic images to the second processor. The second processor receives the target object location information sent by the location information acquisition device, determines the target scanning area of ​​the ultrasonic probe based on the target object location information, and associates the ultrasonic images with the spatial positions within the target scanning area. When there are two processors, the first processor can be configured in a first computer device, and the second processor can be configured in a second computer device. The ultrasonic probe and the first computer device can form an ultrasonic system, and the location information acquisition device and the second computer device can form a positioning system. Based on this, the ultrasonic imaging positioning system provided in this embodiment includes an ultrasonic system and a positioning system.

[0052] Optionally, the number of processors can also be three, such as a first processor, a second processor, and a third processor. The first processor receives the ultrasonic signals sent by the ultrasonic probe, generates ultrasonic images of various sections based on the ultrasonic signals, and sends the generated ultrasonic images to the second processor. The second processor receives the target object location information sent by the location information acquisition device, determines the target scanning area of ​​the ultrasonic probe based on the target object location information, and associates the ultrasonic images with the spatial positions in the target scanning area through the third processor. Based on the above scheme, the number of processors can also be more, with more processors performing ultrasonic image generation, target scanning area determination of the ultrasonic probe, and association of the ultrasonic images with the spatial positions in the target scanning area. When there are three processors, the first processor can be configured in the first computer device, the second processor in the second computer device, and the third processor in the third computer device. The ultrasonic probe and the first computer device can form an ultrasonic system, the location information acquisition device and the second computer device can form a location determination system, and the third computer device can serve as an association processing system. Based on this, the location determination system and the association processing system can be considered as a positioning system, and the system composed of the positioning system and the ultrasonic system can be considered as an ultrasonic imaging positioning system.

[0053] In this embodiment, Figure 1 This is just one example of the structure of an ultrasound imaging positioning system. The location information acquisition device can be set on the ultrasound probe and be a device integrated with the ultrasound probe, or it can be an external device independent of the ultrasound probe.

[0054] Optionally, the location information of the target object can be acquired using any one or more location information acquisition devices, and the position and cut angle of the ultrasonic probe can be determined based on the target object's location information. For example, the location information of the ultrasonic probe can be acquired using any method capable of spatial positioning, such as gyroscope, Bluetooth, magnetic field positioning, visual positioning, optical positioning, microwave positioning, radar positioning, or ultrasonic positioning.

[0055] In one embodiment, a gyroscope can be installed inside the ultrasonic probe. The position data of the gyroscope at each time point during the ultrasonic signal acquisition period is used as the position information of the target object. The processor obtains the position and chamfer of the ultrasonic probe at each time point by processing the position data.

[0056] In one embodiment, a Bluetooth device can be installed inside the ultrasonic probe, and the Bluetooth signal collected by the Bluetooth device can be used as the location information of the target object. The processor obtains the position and chamfer of the ultrasonic probe by processing the Bluetooth signal.

[0057] In one embodiment, the ultrasonic probe can be placed in a magnetic field, and the detected magnetic induction information can be used as the target object's position information. The processor can then process the magnetic induction information to obtain the position and cut angle of the ultrasonic probe.

[0058] In one embodiment, marker points can be set on the ultrasonic probe, and a visual positioning and capture device can be used as a location information acquisition device to collect the location information of each marker point on the ultrasonic probe as the target object location information. The processor determines the position and chamfer of the ultrasonic probe through the target object location information.

[0059] It should be noted that the location information acquisition device can be implemented using any of the methods described above, and no limitation is made here. Furthermore, to improve the accuracy of ultrasonic probe positioning, multiple methods described above can be combined to collect the target object's location information.

[0060] This invention solves the problem of subsequent processing of ultrasound images by associating ultrasound images with spatial locations. For example, when a secondary interpretation of an ultrasound image is required, the secondary interpretation can be performed based on the spatial location associated with the ultrasound image, eliminating the need for repeated scanning. Similarly, when it is necessary to acquire ultrasound images surrounding a given ultrasound image, the surrounding spatial locations can be determined based on the spatial location corresponding to the given ultrasound image, and the ultrasound images associated with those surrounding spatial locations can be used as the surrounding ultrasound images.

[0061] Optionally, the ultrasound acquisition time period can be the entire time period of the ultrasound signal acquisition, and each time point within the ultrasound signal acquisition time period can be a time point within a set time interval of the ultrasound acquisition time period. The set time interval can be set according to actual needs, such as based on the time interval corresponding to the ultrasound images of two adjacent sections; there is no limitation here.

[0062] This invention provides an ultrasonic imaging positioning system, including an ultrasonic probe, a location information acquisition device, and a processor. The ultrasonic probe emits and receives ultrasonic signals during ultrasonic testing and sends the received ultrasonic signals to the processor. The location information acquisition device acquires the location information of a target object at various time points within the ultrasonic signal acquisition period and sends this location information to the processor. The processor generates ultrasonic images of various cross-sections based on the ultrasonic signals, determines the target scanning area of ​​the ultrasonic probe based on the target object location information, and determines the spatial relationship between each ultrasonic image and the target scanning area based on time points. By acquiring the target object location information through the location information acquisition device during ultrasonic signal acquisition, the scanning area of ​​the ultrasonic probe is determined. The ultrasonic images and scanning areas are then associated based on time points, achieving spatial positioning of the ultrasonic images. This facilitates secondary interpretation of the ultrasonic images and the acquisition of surrounding ultrasonic images.

[0063] In one embodiment of the present invention, the location information acquisition device is a visual positioning and capture device. Multiple marker points are set on the ultrasonic probe. Acquiring the target object location information at each time point within the ultrasonic signal acquisition period includes: capturing the position coordinates of the target marker points at each time point within the ultrasonic signal acquisition period, and using the position coordinates of the target marker points as the target object location information; correspondingly, determining the target scanning area of ​​the ultrasonic probe based on the target object location information includes: for each time point, determining the center position and chamfer of the bottom end of the ultrasonic probe based on the position coordinates of the target marker points, and determining the cross-sectional scanning area of ​​the ultrasonic probe based on the center position and chamfer; and determining the target scanning area of ​​the ultrasonic probe based on the cross-sectional scanning area of ​​the ultrasonic probe corresponding to each time point.

[0064] Preferably, the ultrasound probe can be positioned by setting marker points on it and using a visual positioning capture device to acquire the position information of these marker points. Using a visual positioning capture device to acquire the position information of the marker points for ultrasound probe positioning makes the positioning more accurate, thereby making the spatial location associated with the ultrasound images more precise.

[0065] In the above scheme, when calculating the target scanning area of ​​the ultrasound probe, the cross-sectional scanning area of ​​the ultrasound probe at each time point can be calculated first. Then, the spatial area formed by combining the cross-sectional scanning areas corresponding to all time points is used as the target scanning area of ​​the ultrasound probe during ultrasound acquisition. It can be understood that the cross-sectional scanning area of ​​the ultrasound probe is determined by the position, width, and angle of the ultrasound probe. The position of the ultrasound probe can be represented by the center position of the bottom of the ultrasound probe. Based on this, the center position and chamfer of the bottom of the ultrasound probe can be calculated based on the target marker coordinates of each marker point on the ultrasound probe. Combined with the width attribute of the ultrasound probe itself, the cross-sectional scanning area of ​​the ultrasound probe can be determined. The chamfer of the ultrasound probe can include the angles between the ultrasound probe and each coordinate axis in the spatial coordinate system, such as the angle with the x-axis, the angle with the y-axis, and the angle with the z-axis.

[0066] In this embodiment, the marker points on the ultrasound probe can be set according to actual needs. To make the ultrasound probe information determined based on the coordinates of the marker points more accurate, several points not located on the same straight line can be set as marker points on the top of the ultrasound probe. Alternatively, a marker image can be set on the ultrasound probe, and several feature points not located on the same straight line in the marker image can be used as marker points of the ultrasound probe. For example, the marker image can be set as a polygonal image, and each vertex of the marker image can be used as a marker point of the ultrasound probe. The top of the ultrasound probe can be the end facing the operator when the ultrasound probe is used, and the bottom of the ultrasound probe can be the end that contacts the object being scanned when the ultrasound probe is used.

[0067] Optionally, the visual positioning and capture device can be any existing position information capture device, such as a binocular camera, etc. There are no restrictions here, as long as it can acquire the three-dimensional coordinates of the marker points on the ultrasound probe. In one implementation of the present invention, capturing the position coordinates of the marker points at each time point within the ultrasound signal acquisition period includes: acquiring the initial marker point position coordinates in the device coordinate system acquired by the visual positioning and capture device; and transforming the initial marker point position coordinates to obtain the target marker point position coordinates in the spatial coordinate system. It is understood that the position coordinates acquired by the visual positioning and capture device are position coordinates in the device coordinate system, and it is necessary to transform the acquired position coordinates to obtain the position coordinates in the spatial coordinate system as the target marker point position coordinates. The spatial coordinate system can be a coordinate system with any point in space as the origin and three mutually perpendicular axes passing through the origin as coordinate axes. In this embodiment, the origin of the spatial coordinate system can be set according to actual needs and is not limited here. The coordinate system transformation method can adopt existing coordinate system transformation methods, which will not be elaborated here.

[0068] Based on the above scheme, the cross-sectional scanning area of ​​the ultrasound probe is determined based on the center position and the tangent angle. This includes: using the center position as the center, the width parameter of the ultrasound probe as the area width, and the tangent angle as the angle as the cross-sectional scanning area. For example, assuming at a certain time point, the center position of the bottom of the ultrasound probe is (x, y, z), the width is H, and the tangent angle direction is (a, b, c), then the area centered at (x, y, z), with an angle direction of (a, b, c) and a width of H is used as the cross-sectional scanning area. The vector represented by the tangent angle direction (a, b, c) forms a vector with the same direction as the angles between the ultrasound probe and the x-axis, y-axis, and z-axis.

[0069] In one embodiment, the center position of the marker point coincides with the center position of the top of the ultrasound probe. Determining the center position and chamfer of the bottom of the ultrasound probe based on the target marker point position coordinates includes: determining the relative positional offset between each marker point based on the target marker point position coordinates; determining the chamfer of the ultrasound probe based on the relative positional offset between each marker point; determining the center coordinates of each marker point based on the target marker point position coordinates; and determining the center position of the bottom of the ultrasound probe based on the center coordinates of the marker points, the length parameter of the ultrasound probe, and the chamfer. It is understood that the center position of the bottom of the ultrasound probe can be calculated based on the position of the marker points on the ultrasound probe. The relationship between the center position of the top region of the ultrasound probe and the positions of each marker point can be determined based on the position of the marker points in the top region of the ultrasound probe.

[0070] To facilitate calculations, markers can be evenly distributed within the top region of the ultrasound probe, ensuring that the center of each marker coincides with the center of the probe's tip. The positional relationship between the center of the probe's tip and the center of its bottom depends on the probe's chamfer angle and length. Therefore, the chamfer angle of the ultrasound probe can be calculated first. Then, based on the target marker coordinates, the center coordinates of each marker are calculated as the coordinates of the probe's tip center. Finally, the center of the probe's bottom is determined based on the probe's tip center coordinates, length, and chamfer angle, ultimately yielding the probe's chamfer angle and center of its bottom.

[0071] For example, assuming there are n marker points at the tip of the ultrasound probe, the plane equation containing the n marker points can be fitted based on the target marker point position coordinates. Then, the angles between the plane expressed by this plane equation and each coordinate axis are calculated, and the obtained angles are used as the tangent angles of the ultrasound probe. The plane fitting method can refer to the plane fitting methods in the prior art, and is not limited here. Assume the target marker point position coordinates of the i-th marker point are (x... i ,y i ,z i If there are n marker points, then the coordinates of the center position of the top of the ultrasonic probe can be obtained through... Calculated.

[0072] Based on the above scheme, the correlation between each ultrasound image and the spatial location within the target scanning area is determined based on time points. This includes associating the spatial location of the cross-sectional scanning area corresponding to the time point in the target scanning area with the ultrasound image corresponding to that time point. The method provided in the above embodiments can obtain the scanning area corresponding to the ultrasound probe at each time point. Since the ultrasound signal acquired by the ultrasound probe also carries the time point, the ultrasound image corresponding to each time point can be obtained. Based on this, a correlation can be established between the spatial location within the scanning area corresponding to the same time point and the ultrasound image, achieving spatial positioning of the ultrasound image.

[0073] Example 2

[0074] Figure 2 This is a flowchart of an ultrasound imaging positioning method provided in Embodiment 2 of the present invention. This embodiment is applicable to situations involving ultrasound imaging positioning. The method can be executed by an ultrasound imaging positioning device, which can be implemented in hardware and / or software. The ultrasound imaging positioning device can be configured in the processor of the ultrasound imaging positioning system. Figure 2 As shown, the method includes:

[0075] S210, Receive location information: The location information of the target object at each time point within the acquisition period of the ultrasonic signal sent by the location acquisition device, as well as the ultrasonic signal sent by the ultrasonic probe.

[0076] S220. Generate ultrasound images of each section based on the ultrasound signal, determine the target scanning area of ​​the ultrasound probe based on the target object location information, and determine the correlation between each ultrasound image and the spatial position within the scanning area based on the time point.

[0077] In one implementation, the location information acquisition device is a visual positioning and capture device. Multiple marker points are set on the ultrasonic probe to acquire the target object's location information at various time points within the ultrasonic signal acquisition period, including:

[0078] Capture the coordinates of the target markers at each time point within the ultrasonic signal acquisition period, and use the coordinates of the target markers as the location information of the target object;

[0079] Accordingly, the target scanning area of ​​the ultrasound probe is determined based on the target object location information, including: for each time point, determining the center position and chamfer of the bottom of the ultrasound probe based on the position coordinates of the target marker point, and determining the cross-sectional scanning area of ​​the ultrasound probe based on the center position and chamfer; and determining the target scanning area of ​​the ultrasound probe based on the cross-sectional scanning area of ​​the ultrasound probe corresponding to each time point.

[0080] Optionally, the center position and chamfer of the bottom of the ultrasound probe are determined based on the coordinates of the target marker points, including: determining the relative position offset between each marker point based on the coordinates of the target marker points of each marker point; determining the chamfer of the ultrasound probe based on the relative position offset between each marker point; determining the center coordinates of the marker points based on the coordinates of the target marker points of each marker point; and determining the center position of the bottom of the ultrasound probe based on the center coordinates of the marker points, the length parameters of the ultrasound probe, and the chamfer.

[0081] Optionally, the cross-sectional scanning area of ​​the ultrasound probe can be determined based on the center position and the chamfer angle, including: taking the scanning area centered on the center position, with the width parameter of the ultrasound probe as the area width, and the chamfer angle as the angle as the cross-sectional scanning area.

[0082] In one embodiment of the present invention, determining the correlation between each ultrasound image and the spatial location within the target scanning area based on a time point includes: associating the spatial location of the cross-sectional scanning area corresponding to the time point in the target scanning area with the ultrasound image corresponding to the time point at the same time point.

[0083] More specific technical solutions for linking ultrasound images and spatial location can be found in the above embodiments, and will not be repeated here.

[0084] The technical solution of this embodiment obtains the target object location information at each time point within the ultrasonic signal acquisition period sent by the location information acquisition device, as well as the ultrasonic signal sent by the ultrasonic probe. It generates ultrasonic images of each section based on the ultrasonic signal, determines the target scanning area of ​​the ultrasonic probe based on the target object location information, and determines the correlation between each ultrasonic image and the spatial position within the scanning area based on the time point. This realizes image positioning of ultrasonic imaging, which facilitates the secondary interpretation of ultrasonic images and the acquisition of surrounding ultrasonic images.

[0085] Example 3

[0086] Figure 3 This is a schematic diagram of the structure of an ultrasonic imaging positioning device provided in Embodiment 3 of the present invention. Figure 3 As shown, the device includes a signal receiving module 310 and an image position association module 320, wherein:

[0087] The signal receiving module 310 is used to receive the target object location information at each time point within the ultrasonic signal acquisition period sent by the location information acquisition device, as well as the ultrasonic signal sent by the ultrasonic probe.

[0088] The image location association module 320 is used to generate ultrasound images of each section based on the ultrasound signal, determine the target scanning area of ​​the ultrasound probe based on the target object location information, and determine the spatial relationship between each ultrasound image and the scanning area based on the time point.

[0089] The technical solution of this embodiment obtains the target object location information at each time point within the ultrasonic signal acquisition period sent by the location information acquisition device, as well as the ultrasonic signal sent by the ultrasonic probe. It generates ultrasonic images of each section based on the ultrasonic signal, determines the target scanning area of ​​the ultrasonic probe based on the target object location information, and determines the correlation between each ultrasonic image and the spatial position within the scanning area based on the time point. This realizes image positioning of ultrasonic imaging, which facilitates the secondary interpretation of ultrasonic images and the acquisition of surrounding ultrasonic images.

[0090] Based on the above embodiments, optionally, the location information acquisition device is a visual positioning and capture device, and the ultrasonic probe is provided with multiple marker points to acquire the target object location information at each time point within the ultrasonic signal acquisition period, including:

[0091] Capture the coordinates of the target markers at each time point within the ultrasonic signal acquisition period, and use the coordinates of the target markers as the location information of the target object;

[0092] Accordingly, the target scanning area of ​​the ultrasound probe is determined based on the location information of the target object, including:

[0093] For each time point, the center position and chamfer of the bottom of the ultrasound probe are determined based on the coordinates of the target marker point, and the cross-sectional scanning area of ​​the ultrasound probe is determined based on the center position and chamfer.

[0094] The target scanning area of ​​the ultrasound probe is determined based on the cross-sectional scanning area of ​​the ultrasound probe at each time point.

[0095] Based on the above embodiments, optionally, determining the center position and chamfer of the bottom end of the ultrasonic probe according to the coordinates of the target marker point includes:

[0096] The relative position offset between each marker point is determined based on the target marker point position coordinates, and the chamfer angle of the ultrasonic probe is determined based on the relative position offset between each marker point.

[0097] The center coordinates of the marker points are determined based on the target marker point position coordinates of each marker point. The center position of the bottom end of the ultrasonic probe is determined based on the center coordinates of the marker points, the length parameters of the ultrasonic probe, and the chamfer.

[0098] Based on the above embodiments, optionally, the cross-sectional scanning area of ​​the ultrasound probe is determined based on the center position and the cutting angle, including:

[0099] The scanning area is defined by taking the center position as the center, the width parameter of the ultrasound probe as the area width, and the tangent angle as the angle.

[0100] Based on the above embodiments, optionally, determining the correlation between each ultrasound image and the spatial location within the target scanning area based on time points includes:

[0101] The spatial location of the cross-sectional scanning area corresponding to the time point in the target scanning area is associated with the ultrasound image corresponding to the time point at the same time point.

[0102] The ultrasound imaging positioning device provided in the embodiments of the present invention can execute the ultrasound imaging positioning method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the method.

[0103] Example 4

[0104] Figure 4This is a schematic diagram of the structure of an electronic device provided in Embodiment 4 of the present invention. The electronic device 10 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0105] like Figure 4 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0106] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0107] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as ultrasound imaging localization methods.

[0108] In some embodiments, the ultrasound imaging localization method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the ultrasound imaging localization method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the ultrasound imaging localization method by any other suitable means (e.g., by means of firmware).

[0109] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0110] Computer programs for implementing the ultrasound imaging localization method of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The computer programs can be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0111] Example 5

[0112] Embodiment 5 of the present invention also provides a computer-readable storage medium storing computer instructions for causing a processor to execute an ultrasound imaging localization method, the method comprising:

[0113] The system receives location information from the ultrasonic signal acquisition device, which transmits ultrasonic signals at various points in time within the acquisition period, as well as ultrasonic signals transmitted by the ultrasonic probe.

[0114] Ultrasonic images of each section are generated based on the ultrasonic signal. The target scanning area of ​​the ultrasonic probe is determined based on the location information of the target object. The correlation between each ultrasonic image and the spatial position within the scanning area is determined based on the time point.

[0115] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0116] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0117] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0118] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0119] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0120] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. An ultrasound imaging positioning system, characterized by, The application relates to an ultrasonic probe, a position information acquisition device and a processor, wherein: The ultrasonic probe is used for transmitting and receiving ultrasonic signals during ultrasonic detection and sending the received ultrasonic signals to the processor; The position information acquisition device is used for acquiring target object position information at each time point in an ultrasonic signal acquisition time period and sending the target object position information to the processor; The processor is used for generating ultrasonic images of each section according to the ultrasonic signals, determining a target scanning area of the ultrasonic probe according to the target object position information, and determining the correlation between each ultrasonic image and the spatial position in the target scanning area according to the time points; The target object position information at each time point in the ultrasonic signal acquisition time period is acquired by: capturing target marker point position coordinates at each time point in the ultrasonic signal acquisition time period, taking the target marker point position coordinates as the target object position information, the center position of the target marker point coincides with the center position of the top end of the ultrasonic probe, a plurality of target marker points are arranged on the top end of the ultrasonic probe and do not lie on the same straight line, and the top end of the ultrasonic probe is the end of the ultrasonic probe facing the operating physician during use; The target scanning area is determined by: for each time point, determining the center position of the bottom end of the ultrasonic probe and the cutting angle according to the target marker point position coordinates, and determining the section scanning area of the ultrasonic probe based on the center position and the cutting angle; combining the section scanning areas corresponding to all time points to form a spatial area as the target scanning area of the ultrasonic probe during ultrasonic acquisition; The center position of the bottom end of the ultrasonic probe and the cutting angle are determined according to the target marker point position coordinates, including: determining the relative position offset between each target marker point according to the target marker point position coordinates of each marker point, and determining the cutting angle of the ultrasonic probe according to the relative position offset between each target marker point; determining a marker point center coordinate according to the target marker point position coordinates of each target marker point, and determining the center position of the bottom end of the ultrasonic probe according to the marker point center coordinate, the length parameter of the ultrasonic probe and the cutting angle.

2. The system of claim 1, wherein, The section scanning area of the ultrasonic probe is determined based on the center position and the cutting angle, including: taking a scanning area with the center position as the center, the width parameter of the ultrasonic probe as the area width and the cutting angle as the angle as the section scanning area.

3. The system of claim 1, wherein, The correlation between each ultrasonic image and the spatial position in the target scanning area is determined according to the time points, including: correlating the spatial position corresponding to the section scanning area of the time point in the target scanning area and the ultrasonic image corresponding to the time point at the same time point.

4. The system of claim 1, wherein, The target marker point position coordinates at each time point in the ultrasonic signal acquisition time period are captured, including: acquiring initial marker point position coordinates in a device coordinate system captured by a visual positioning capture device, and performing coordinate conversion on the initial marker point position coordinates to obtain target marker point position coordinates in a spatial coordinate system.

5. An ultrasound imaging positioning method, characterized by, The method is executed by a processor in the ultrasound imaging positioning system of any one of claims 1-4, and the method comprises: receiving target object position information at each time point in an ultrasound signal acquisition time period sent by a position information acquisition device and ultrasound wave signals sent by an ultrasound probe, the target object being a target marker point arranged on the ultrasound probe; generating an ultrasound image of each section according to the ultrasound wave signals, determining a target scanning region of the ultrasound probe according to the target object position information, and determining a correlation between each of the ultrasound images and a spatial position in the scanning region based on the time points; wherein the target scanning region is determined by the following steps: for each of the time points, determining a center position of a bottom end of the ultrasound probe and a section angle according to the target marker point position coordinates, and determining a section scanning region of the ultrasound probe based on the center position and the section angle; combining a spatial region formed by combining the section scanning regions corresponding to all of the time points as a target scanning region of the ultrasound probe during ultrasound acquisition; wherein the determination of the center position of the bottom end of the ultrasound probe and the section angle according to the target marker point position coordinates comprises: determining a relative position offset between each of the target marker points according to the target marker point position coordinates of each of the marker points, and determining the section angle of the ultrasound probe according to the relative position offset between each of the target marker points; determining a marker point center coordinate according to the target marker point position coordinates of each of the target marker points, and determining the center position of the bottom end of the ultrasound probe according to the marker point center coordinate, a length parameter of the ultrasound probe, and the section angle.

6. An ultrasound imaging positioning device, characterized by The device is configured in the processor of the ultrasound imaging positioning system of any one of claims 1-4, and the device comprises: a signal receiving module configured to receive target object position information at each time point in an ultrasound signal acquisition time period sent by a position information acquisition device and ultrasound wave signals sent by an ultrasound probe, the target object being a target marker point arranged on the ultrasound probe; an image position correlation module configured to generate an ultrasound image of each section according to the ultrasound wave signals, determine a target scanning region of the ultrasound probe according to the target object position information, and determine a correlation between each of the ultrasound images and a spatial position in the scanning region based on the time points; wherein the image position correlation module determines the target scanning region by the following steps: for each of the time points, determining a center position of a bottom end of the ultrasound probe and a section angle according to the target marker point position coordinates, and determining a section scanning region of the ultrasound probe based on the center position and the section angle; combining a spatial region formed by combining the section scanning regions corresponding to all of the time points as a target scanning region of the ultrasound probe during ultrasound acquisition; wherein the determination of the center position of the bottom end of the ultrasound probe and the section angle according to the target marker point position coordinates comprises: determining a relative position offset between each of the target marker points according to the target marker point position coordinates of each of the marker points, and determining the section angle of the ultrasound probe according to the relative position offset between each of the target marker points; determining a marker point center coordinate according to the target marker point position coordinates of each of the target marker points, and determining the center position of the bottom end of the ultrasound probe according to the marker point center coordinate, a length parameter of the ultrasound probe, and the section angle. A marker point center coordinate is determined according to a target marker point position coordinate of each target marker point, and a center position of the bottom end of the ultrasonic probe is determined according to the marker point center coordinate, a length parameter of the ultrasonic probe, and the cut angle.

7. An electronic device, comprising: The electronic device comprises: at least one processor; and a memory connected to the at least one processor in communication; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to perform the ultrasonic imaging positioning method of claim 5.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for enabling the processor to implement the ultrasonic imaging positioning method of claim 5 when executed.

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