Ultrasonic scanning navigation system and ultrasonic scanning method

Abstract

The present invention relates to an ultrasonic scanning navigation system and an ultrasonic scanning method. The system comprises: a sensor module, a data acquisition module, a three-dimensional reconstruction module, a target recognition module, a scanning navigation module and a visualization module. The method comprises: acquiring ultrasonic image information of a subject to be tested and position information of the sensor module in real time, converting a two-dimensional ultrasonic image of the subject to be tested into a three-dimensional volume image according to the ultrasonic image information and the position information of the sensor module by using an interpolation algorithm, constructing a target scanning area, calculating the area to be scanned and an optimal scanning path by using a physical model and displaying them on a visualization module, an operator performing a comprehensive and accurate ultrasonic scanning according to the guidance of the visualization module, simplifying the ultrasonic scanning process, and avoiding missed diagnosis or misdiagnosis.

Description

Technical Field

[0001] The present invention relates to the technical field of medical appliances, and in particular to an ultrasonic scanning navigation system and an ultrasonic scanning method. Background Art

[0002] Ultrasound is a safe, convenient, and low-cost medical imaging technology that uses an ultrasound probe to transmit and receive sound wave signals to the human body to reflect the internal anatomical structure of the human body. Conventional ultrasound scanning in related technologies relies on the operator's skills and experience. The operator only knows the current position of the ultrasound probe and the corresponding ultrasound image, and cannot accurately perceive the parts that have been scanned and the parts to be scanned. It is easy to have incomplete and incomplete scans, resulting in missed diagnoses. In addition, ultrasound operators with insufficient experience and skills find it difficult to perform ultrasound screening work, resulting in the limited supply of ultrasound screening being unable to meet the huge market demand. Summary of the invention

[0003] To this end, the present invention provides an ultrasound scanning navigation system and an ultrasound scanning method, which utilize tracking sensors and visual navigation technology to guide the ultrasound operator to complete the ultrasound scanning process, thereby simplifying the ultrasound scanning process and avoiding missed diagnosis or misdiagnosis.

[0004] To achieve the above-mentioned purpose, the present invention mainly adopts the following technical solutions: an embodiment of the present application provides an ultrasonic scanning navigation system, the system comprising: a sensor module, used to collect ultrasonic image information of a subject and the posture information of the sensor module, wherein the ultrasonic image information and the posture information respectively include corresponding timestamps; a data acquisition module, connected to the sensor module, used to align the timestamps between the ultrasonic image information and the posture information; a three-dimensional reconstruction module, connected to the data acquisition module, used to obtain the three-dimensional coordinate system of the ultrasonic image information corresponding to each timestamp through coordinate transformation according to the ultrasonic image information and the posture information in the order of timestamps, and use an interpolation algorithm to calculate the three-dimensional coordinate system to obtain the ultrasonic image information. a target recognition module connected to the three-dimensional reconstruction module and used to perform image processing on the three-dimensional volume image, extract the three-dimensional boundary information of the subject to be tested by a segmentation algorithm, and construct a target scanning area of ​​the subject to be tested based on the three-dimensional boundary information; a scanning navigation module connected to the three-dimensional reconstruction module and the target recognition module, respectively, and used to input the three-dimensional volume image and the target scanning area into a physical model to obtain the area to be scanned, and calculate the optimal scanning path between the posture information of the sensor module at the current moment and the area to be scanned according to the area to be scanned; a visualization module, used to display the ultrasonic image information and the posture information obtained by the sensor module, and simultaneously display the target scanning area and the optimal scanning path.

[0005] In some embodiments, the sensor module includes: an ultrasonic probe and a tracking sensor, wherein: the ultrasonic probe is used to collect ultrasonic image information of the subject, and the tracking sensor is used to collect posture information of the sensor module, and the posture information includes: the orientation information of the sensor module and the posture information of the sensor module.

[0006] In some embodiments, the three-dimensional reconstruction module is also used to: receive the ultrasonic image information and the posture information, and perform a first coordinate transformation on the ultrasonic image information from a two-dimensional coordinate system to the tracking sensor coordinate system using an ultrasonic probe calibration method; perform a second coordinate transformation from the tracking sensor coordinate system to a world coordinate system according to the posture information; and perform a third coordinate transformation from the world coordinate system to the three-dimensional coordinate system of the ultrasonic image information through coordinate calculation to obtain the three-dimensional coordinate system of the ultrasonic image information corresponding to each timestamp.

[0007] In some embodiments, the visualization module is also used to update the ultrasound image information, the posture information, the target scanning area and the optimal scanning path in real time according to the timestamp.

[0008] The embodiment of the present application provides an ultrasonic scanning method, which is applied to an ultrasonic scanning navigation system, and the method includes: collecting ultrasonic image information of a subject to be tested and posture information of a sensor module, wherein the ultrasonic image information and the posture information include corresponding timestamps; aligning the timestamps between the ultrasonic image information and the posture information; obtaining a three-dimensional coordinate system of the ultrasonic image information corresponding to each timestamp through coordinate transformation according to the ultrasonic image information and the posture information in a timestamp order, and using an interpolation algorithm to calculate the three-dimensional coordinate system to obtain a three-dimensional volume image corresponding to the ultrasonic image; performing image processing on the three-dimensional volume image, extracting three-dimensional boundary information of the subject to be tested by using a segmentation algorithm, and constructing a target scanning area of ​​the subject to be tested based on the three-dimensional boundary information; inputting the three-dimensional volume image and the target scanning area into a physical model, outputting the area to be scanned, and calculating the optimal scanning path between the posture information of the sensor module and the area to be scanned at the current moment according to the area to be scanned; displaying the ultrasonic image information and the posture information, and simultaneously displaying the target scanning area and the optimal scanning path; and an operator traverses the target scanning area according to the optimal scanning path.

[0009] In some embodiments, the sensor module includes: an ultrasonic probe and a tracking sensor; the acquisition of ultrasonic image information of the subject and the posture information of the sensor module includes: the ultrasonic probe acquires ultrasonic image information of the subject, and the tracking sensor acquires posture information of the sensor module, wherein the posture information includes: the orientation information of the sensor module and the posture information of the sensor module.

[0010] In some embodiments, the three-dimensional coordinate system of the ultrasound image information corresponding to each timestamp is obtained through coordinate transformation according to the ultrasound image information and the posture information in timestamp order, including: performing a first coordinate transformation of the ultrasound image information from a two-dimensional coordinate system to the tracking sensor coordinate system using an ultrasound probe calibration method; performing a second coordinate transformation from the tracking sensor coordinate system to a world coordinate system according to the posture information; and performing a third coordinate transformation from the world coordinate system to the three-dimensional coordinate system of the ultrasound image information through coordinate calculation to obtain the three-dimensional coordinate system of the ultrasound image information corresponding to each timestamp.

[0011] In some embodiments, the method further includes: updating the ultrasound image information, the posture information, the target scanning area and the optimal scanning path in real time according to the timestamp.

[0012] An embodiment of the present application provides an electronic device, comprising: a processor; and a memory, wherein a computer program is stored in the memory, and the computer program is loaded and executed by the processor to implement the above-mentioned ultrasonic scanning method.

[0013] An embodiment of the present application provides a computer-readable storage medium on which at least one computer program is stored. The computer program is loaded and executed by a processor to implement the above-mentioned ultrasonic scanning method.

[0014] The ultrasonic scanning method provided by the present invention collects data of the subject based on the tracking sensor in the ultrasonic scanning navigation system, determines the area to be scanned according to the internal three-dimensional reconstruction algorithm, accurately prompts the scanned area and the area to be scanned in a visual manner, and provides the operator with the best path information, thereby guiding the operator to complete a comprehensive and thorough ultrasonic scanning, reducing the operator's threshold and avoiding missed diagnosis. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A schematic diagram of the structure of an ultrasonic scanning navigation system provided in an embodiment of the present application;

[0016] Figure 2 It is a structural schematic diagram of the sensor module;

[0017] Figure 3 A schematic diagram of the flow chart of the ultrasonic scanning method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0018] In order to more clearly understand the above-mentioned purpose, technical solution and advantages of the present application, the following is a detailed description in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict, and the specific embodiments described below are only used to explain the present application and are not used to limit the present application.

[0019] In the following description, many specific details are set forth to facilitate a full understanding of the present application. The embodiments described are only a part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0021] In the subsequent description, the suffixes such as "module", "component" or "unit" used to represent components are only used to facilitate the description of the present application and have no specific meaning. Therefore, "module", "component" or "unit" can be used in a mixed manner.

[0022] This application embodiment provides an ultrasonic scanning navigation system. Figure 1 , Figure 1 FIG. 1 is a schematic diagram of the structure of the ultrasound scanning navigation system 100 in an embodiment of the present application. Figure 1 In the illustrated embodiment, the ultrasound scanning navigation system 100 includes a sensor module 101, a data acquisition module 102, a 3D reconstruction module 103, a target recognition module 104, a scanning navigation module 105, and a visualization module 106. The components of the ultrasound scanning navigation system 100 can be connected in any manner, including wired connection or wireless connection. Those skilled in the art will appreciate that Figure 1 The specific structure of the ultrasound scanning navigation system 100 shown in the figure does not constitute a limitation of the ultrasound scanning navigation system 100. The ultrasound scanning navigation system 100 may include more or fewer components than shown in the figure. Some components are not essential components of the ultrasound scanning navigation system 100 and may be omitted or combined as needed without changing the essence of the present application.

[0023] Combine the following Figure 1 The various components of the ultrasound scanning navigation system 100 are introduced in detail:

[0024] Figure 2 is a schematic diagram of the structure of the sensor module, such as Figure 2 As shown, the sensor module 101 includes: an ultrasonic probe 111 and a tracking sensor 112. The type and quantity of sensors included in the sensor module 101 can be set according to actual detection requirements, wherein: the ultrasonic probe 111 is used to collect ultrasonic image information of the subject to be tested, and the tracking sensor 112 is used to collect the posture information of the sensor module 101. Here, the ultrasonic probe 111 is used to transmit ultrasonic waves to the subject to be tested and receive echo signals reflected by the subject to be tested, so as to obtain the ultrasonic image information of the subject to be tested at each moment. Here, the ultrasonic image information collected by the ultrasonic probe 111 includes a corresponding timestamp, that is, the ultrasonic image information and the timestamp have a mapping relationship, each ultrasonic image information corresponds to the timestamp of the current moment, and the ultrasonic image information collected by the ultrasonic probe 111 is a two-dimensional image slice of the subject to be tested at the current moment. An acceleration sensor is provided in the ultrasonic probe 111, and the speed, acceleration and displacement of the ultrasonic probe 111 are obtained by the acceleration sensor. Here, the surface of the ultrasonic probe 111 is provided with a flexible material layer (not shown in the figure), which can avoid friction resistance when in contact with the human body during the measurement process, and can also eliminate the measurement error caused by the reflection loss of ultrasonic energy at the contact interface due to air coupling when the ultrasonic probe 111 is in direct contact with the human body surface during the scanning process.

[0025] The tracking sensor 112 is used to collect the position information of the sensor module, and the position information includes: the orientation information of the sensor module 101 and the attitude information of the sensor module 101. Here, the orientation information of the sensor module 101 is the three-dimensional coordinates of the position of the sensor module 101 in space, with a total of 6 degrees of freedom, including 3 degrees of freedom position information and 3 degrees of freedom direction information. The attitude information of the sensor module 101 is the attitude of the sensor module at the current moment, such as the attitude parallel to the XY plane and perpendicular to the XZ plane. Here, the tracking sensor 112 can be composed of one or more sensor combinations such as optical sensors, electromagnetic sensors, inertial sensors, etc. The tracking sensor 112 can be fixedly connected to the outer surface of the ultrasonic probe 111 (such as a laser beam) through a customized connector. Figure 2 The position information collected by the tracking sensor 112 includes a corresponding timestamp, that is, the position information and the timestamp are in a one-to-one mapping relationship.

[0026] See also Figure 1The data acquisition module 102 is connected to the sensor module 101 via a data cable or wirelessly (such as Bluetooth, WIFI, 5G, etc.). The data acquisition module 102 receives the ultrasonic image information collected by the ultrasonic probe 111 and the posture information collected by the tracking sensor 112 in real time, and obtains the timestamps corresponding to the ultrasonic image information and the posture information respectively. The data acquisition module 102 aligns the timestamps of the ultrasonic image information and the posture information to achieve time synchronization.

[0027] The three-dimensional reconstruction module 103 is connected to the data acquisition module 102. The three-dimensional reconstruction module 103 uses an ultrasonic probe calibration method to perform a first coordinate transformation on the ultrasonic image information from a two-dimensional coordinate system to the tracking sensor coordinate system. Here, the ultrasonic image information is a two-dimensional image slice of the subject to be tested, that is, the ultrasonic image information has a coordinate matrix in the two-dimensional coordinate system. The first coordinate transformation is to transform the coordinate matrix in the two-dimensional coordinate system into a coordinate matrix in the tracking sensor coordinate system. The first coordinate transformation is expressed as T S←I Subsequently, the 3D reconstruction module 103 performs a second coordinate transformation from the tracking sensor coordinate system to the world coordinate system according to the position information obtained by the tracking sensor. Here, the second coordinate transformation is expressed as: W←S Finally, the three-dimensional reconstruction module 103 performs a third coordinate transformation from the world coordinate system to the three-dimensional coordinate system of the ultrasound image information through coordinate calculation to obtain the three-dimensional coordinate system of the ultrasound image information corresponding to each time stamp. The third coordinate transformation is expressed as T V←W . After the above three coordinate transformations, the two-dimensional coordinates of the ultrasound image of the subject to be tested collected by the ultrasound probe can be mapped to a three-dimensional coordinate system, and the three-dimensional volume image can be calculated using an interpolation algorithm based on the three-dimensional coordinate system of the obtained ultrasound image information. Here, a variety of interpolation algorithms can be used, such as nearest neighbor interpolation, trilinear interpolation and other algorithms for calculation. After three-dimensional reconstruction, the two-dimensional ultrasound image information of the subject to be tested collected by the sensor module 101 is transformed into a three-dimensional volume image to restore the actual ultrasound scanning image of the subject to be tested.

[0028] The target recognition module 104 is connected to the 3D reconstruction module 103, performs image processing on the 3D volume image obtained by the 3D reconstruction module 103, extracts the 3D boundary information of the subject by using deep learning (neural network) and segmentation algorithm, and constructs the target scanning area of ​​the subject based on the 3D boundary information; for example, the subject needs to use the ultrasound scanning navigation system 100 to scan the breast area, and extracts the 3D boundary information of the breast by using deep learning (neural network), level set and other segmentation algorithms, and constructs the target scanning area based on the breast boundary information, that is, the area that must be covered by the breast scan. The target scanning area includes the breast area and the peripheral safety area of ​​the breast.

[0029] The scanning navigation module 105 is connected to the three-dimensional reconstruction module 103 and the target recognition module 104 respectively, and inputs the three-dimensional volume image and the target scanning area into a physical model established in advance based on prior knowledge, and outputs the area to be scanned. According to the scanning area, the optimal scanning path between the posture information of the sensor module at the current moment and the area to be scanned is calculated.

[0030] The visualization module 106 is connected to the scanning navigation module 105, and is used to display the ultrasonic image information and the posture information obtained by the sensor module, and to display the target scanning area and the optimal scanning path; here, the visualization module 106 is also used to update the ultrasonic image information, the posture information, the target scanning area and the optimal scanning path in real time according to the timestamp. The visualization module 106 may include a display panel, which may be configured in the form of a liquid crystal display (LCD), an organic light-emitting diode (OLED), etc.

[0031] The present application embodiment provides an ultrasonic scanning method, which is applied to an ultrasonic scanning navigation system, such as the ultrasonic scanning navigation system 100 described above. Figure 3 The flow chart of the ultrasonic scanning method provided in the embodiment of the present application is as follows. Taking the above-mentioned ultrasonic scanning navigation system 100 as an example, the scanning process of the ultrasonic scanning method provided in the embodiment of the present application is described. Figure 3 As shown, the method includes:

[0032] Step S101: Collect the ultrasonic image information of the subject to be tested and the posture information of the sensor module, wherein the ultrasonic image information and the posture information respectively include corresponding timestamps. Here, the ultrasonic image information and the sensor posture information are collected by the sensor module 101, wherein the ultrasonic probe 111 in the sensor module collects the ultrasonic image information in real time, and the tracking sensor 112 in the sensor module collects the posture information in real time. In the embodiment of the present application, the ultrasonic image information collected by the ultrasonic probe is a plurality of two-dimensional image slices of the subject to be tested, that is, the ultrasonic image information includes the two-dimensional coordinates of the ultrasonic image.

[0033] Step S102: Align the timestamps between the ultrasonic image information and the posture information; here, the sensor module 101 sends the ultrasonic image information and the posture information to the data acquisition module 102, and the data acquisition module 102 extracts the corresponding timestamps in the ultrasonic image information and the posture information, and aligns the timestamps of the ultrasonic image information and the posture information to achieve time synchronization.

[0034] Step S103: According to the ultrasound image information and the posture information, in the order of timestamps, a three-dimensional coordinate system of the ultrasound image information corresponding to each timestamp is obtained through coordinate transformation, and an interpolation algorithm is used to calculate the three-dimensional coordinate system to obtain a three-dimensional volume image corresponding to the ultrasound image.

[0035] In the implementation column of the present application, the three-dimensional reconstruction module 103 performs three-dimensional reconstruction on multiple two-dimensional ultrasound images, and establishes the relationship between the ultrasound image two-dimensional coordinate system, the tracking sensor coordinate system, the world coordinate system, and the ultrasound image three-dimensional coordinate system based on the ultrasound two-dimensional image collected by the ultrasound probe, the posture information collected by the tracking sensor, and the relative position of the ultrasound probe and the tracking sensor. Then, through a series of coordinate transformations T, the ultrasound two-dimensional image collected by the ultrasound probe is mapped to the three-dimensional real physical space to restore the three-dimensional image of the subject to be tested. The above process can be expressed as:

[0036] V=T V←W T W←S T S←I P (1)

[0037] Where V is the physical position of the voxel point in the reconstructed three-dimensional volume image; P is the physical position of the pixel point in the two-dimensional plane of the ultrasound image collected by the ultrasound probe; T S←I is the first coordinate transformation from the ultrasound image two-dimensional coordinate system I to the tracking sensor coordinate system S; W←S is the second coordinate transformation from the tracking sensor coordinate system S to the world coordinate system W; T V←W It is the third coordinate transformation from the world coordinate system W to the ultrasound image three-dimensional coordinate system V.

[0038] Here, the coordinate transformation T is a matrix composed of rotation and translation transformations, T V←W , T W←S , T S←I can be calculated using formula (2):

[0039]

[0040] Among them, T can be replaced by T in turn according to the above transformation process. V←W , T W←S , T S←I .

[0041] According to formula (1), the specific process of 3D reconstruction is:

[0042] Step S31: receiving the ultrasonic image information and the posture information, and performing a first coordinate transformation from a two-dimensional coordinate system to the tracking sensor coordinate system on the ultrasonic image information using an ultrasonic probe calibration method. Here, the ultrasonic image information is a two-dimensional image slice of the subject to be tested, that is, the ultrasonic image information contains a coordinate matrix in a two-dimensional coordinate system. The first coordinate transformation T S←I That is, the coordinate matrix in the two-dimensional coordinate system is transformed into the coordinate matrix in the tracking sensor coordinate system. The first coordinate transformation T S←I It can be obtained by using the ultrasonic probe calibration method, and the first coordinate transformation T S←I Remains fixed throughout the ultrasound scan and 3D reconstruction process.

[0043] Step S32: Perform a second coordinate transformation T from the tracking sensor coordinate system to the world coordinate system according to the position information obtained by the tracking sensor. W←S .

[0044] Step S33: Perform a third coordinate transformation from the world coordinate system to the three-dimensional coordinate system of the ultrasound image information through coordinate calculation. V←W Here, according to the world coordinate system obtained in step S32, the third coordinate transformation T is performed. V←W , T V←W It can be obtained by coordinate operation, and the third coordinate transformation T V←W Remains fixed throughout the ultrasound scan and 3D reconstruction process.

[0045] After the above steps, formula (1) is used to traverse and process all the ultrasound image information collected by the ultrasound probe, and the two-dimensional coordinate system of the ultrasound image information is transformed into a three-dimensional coordinate system of the ultrasound image information. Then, interpolation hole filling algorithms such as nearest neighbor interpolation and trilinear interpolation are used to form three-dimensional grid data with a specific physical spacing, that is, a three-dimensionally reconstructed ultrasound three-dimensional volume image. Here, after three-dimensional reconstruction, the position information of the ultrasound image is restored to the real three-dimensional coordinate system, that is, the obtained ultrasound three-dimensional volume image is the three-dimensional ultrasound image of the actual object scanned by the ultrasound probe.

[0046] Step S104: Process the three-dimensional volume image, extract the three-dimensional boundary information of the subject by using a segmentation algorithm, and construct a target scanning area of ​​the subject based on the three-dimensional boundary information. Here, the target recognition module 104 receives the three-dimensional volume image, extracts the three-dimensional boundary information of the subject by using a segmentation algorithm such as deep learning (neural network) and level set, and constructs a target scanning area, that is, an area that must be covered by the ultrasound scan.

[0047] Step S105: Input the three-dimensional volume image and the target scanning area into the physical model, output the area to be scanned, and calculate the optimal scanning path between the posture information of the sensor module at the current moment and the area to be scanned according to the area to be scanned. Here, the scanning navigation module 105 uses prior knowledge to build and train the physical model in advance, inputs the three-dimensional volume image and the target scanning area into the above physical model, and outputs the area to be scanned.

[0048] Step S106: Display the ultrasonic image information and the posture information acquired by the ultrasonic probe, and display the target scanning area and the optimal scanning path at the same time; here, the ultrasonic probe, ultrasonic image information, target scanning area, area to be scanned and the optimal scanning path are displayed through the visualization module 106. The three-dimensional image of the ultrasonic probe and the ultrasonic image is updated in real time according to the feedback from the tracking sensor and the ultrasonic probe, and the target scanning area is highlighted, which is updated in real time according to the feedback from the target recognition module. The scanned area and the area to be scanned are highlighted in different contrasting colors, which are updated in real time according to the feedback from the scanning navigation module. The optimal path for the ultrasonic probe to reach the adjacent area to be scanned is highlighted, which is updated in real time according to the feedback from the scanning navigation module.

[0049] Step S107: The operator traverses the target scanning area according to the optimal scanning path. The operator traverses the target scanning area with the assistance of the display content of the visualization module, thereby achieving full coverage of the area to be scanned and avoiding missed scans and missed diagnoses.

[0050] Ultrasound is an effective means of breast screening and is more suitable for screening dense breasts than X-rays (molybdenum targets). Breast ultrasound screening uses ultrasound images to traverse breast tissue to detect all suspicious breast nodules. The ultrasound scanning navigation system provided in the embodiment of the present application can be used to perform ultrasound scanning of the breast, and the scanning process is as follows:

[0051] When it is necessary to start an ultrasound scan, the ultrasound scanning navigation system can be turned on by issuing a start command, for example, the start command can be issued by a start button, and the start command can also be issued by a sensing device set in the ultrasound probe sensing that the ultrasound probe is picked up. At this time, the operator picks up the ultrasound probe and scans along the breast area of ​​the subject. The ultrasound probe obtains the two-dimensional ultrasound image information corresponding to each moment, and the tracking sensor obtains the posture information of the sensor module corresponding to each moment, and sends the obtained ultrasound image information and posture information to the data acquisition module. The data acquisition module aligns the timestamps of the ultrasound image information and the posture information, and sends them to the three-dimensional reconstruction module. The three-dimensional reconstruction module performs three-dimensional reconstruction, converts the two-dimensional ultrasound image information into a three-dimensional volume image and displays it on the visualization module. The target recognition area constructs the area to be scanned of the subject based on the three-dimensional volume image and displays it on the visualization module. The target scanning area includes the breast area and the peripheral safety area of ​​the breast. Subsequently, the scanning navigation module inputs the three-dimensional volume image and the target scanning area into the physical model, obtains the scanning area and the optimal scanning path and displays them on the visualization module; in this way, the operator performs the ultrasound scanning process according to the optimal path guidance of the visualization module until the target scanning area is traversed.

[0052] The ultrasound scanning navigation system and ultrasound scanning method provided in the embodiments of the present application collect data of the subject in real time based on the sensor module, and accurately indicate the scanned and to-be-scanned parts in a visual manner, thereby guiding the ultrasound operator to complete a comprehensive and thorough scan, lowering the operator threshold and avoiding missed diagnoses.

[0053] An embodiment of the present application provides an electronic device, which includes, but is not limited to, a processor, a memory, and a computer program stored in the memory and executable on the processor. For example, the computer program is an ultrasound scanning navigation program. The computer program is loaded and executed by the processor to implement the above-mentioned ultrasound scanning method.

[0054] The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0055] The memory can be used to store the computer program and / or module / unit, and the processor realizes various functions of the electronic device by running or executing the computer program and / or module / unit stored in the memory, and calling the data stored in the memory. In addition, the memory can include volatile and non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (SecureDigital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other storage devices.

[0056] If the module / unit integrated in the electronic device is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by the processor, the steps of each of the above-mentioned method embodiments can be implemented.

[0057] The above description is only the preferred embodiment of the present invention and is not intended to limit the present invention. Any technician familiar with the profession may make various changes, modifications, substitutions and variations to these embodiments without departing from the principle and purpose of the present invention. The scope of the present invention is defined by the claims and their equivalents.

Claims

1. An ultrasonic scanning navigation system, characterized in that: The system comprises: A sensor module is used to collect ultrasonic image information of a subject and position information of the sensor module, wherein the ultrasonic image information and the position information respectively include corresponding timestamps; the sensor module comprises: an ultrasonic probe and a tracking sensor, and a flexible material layer is provided on the surface of the ultrasonic probe; The ultrasonic probe is used to collect ultrasonic image information of the subject, and the tracking sensor is used to collect position information of the sensor module, wherein the position information includes: position information of the sensor module and posture information of the sensor module; A data acquisition module, connected to the sensor module, for aligning the timestamps between the ultrasonic image information and the posture information; a three-dimensional reconstruction module, connected to the data acquisition module, for obtaining, according to the ultrasound image information and the posture information, a three-dimensional coordinate system of the ultrasound image information corresponding to each timestamp by coordinate transformation in a timestamp order, and calculating the three-dimensional coordinate system by an interpolation algorithm to obtain a three-dimensional volume image corresponding to the ultrasound image information; The three-dimensional reconstruction module is also used for: receiving the ultrasonic image information and the position information, and performing a first coordinate transformation from a two-dimensional coordinate system to a tracking sensor coordinate system on the ultrasonic image information by using an ultrasonic probe calibration method; Perform a second coordinate transformation from the tracking sensor coordinate system to the world coordinate system according to the posture information; Performing a third coordinate transformation from the world coordinate system to the three-dimensional coordinate system of the ultrasound image information through coordinate calculation to obtain the three-dimensional coordinate system of the ultrasound image information corresponding to each timestamp; A target recognition module, connected to the three-dimensional reconstruction module, is used to perform image processing on the three-dimensional volume image, extract three-dimensional boundary information of the subject to be tested by using a segmentation algorithm, and construct a target scanning area of ​​the subject to be tested based on the three-dimensional boundary information; a scanning navigation module, connected to the three-dimensional reconstruction module and the target recognition module respectively, for inputting the three-dimensional volume image and the target scanning area into a physical model to obtain an area to be scanned, and calculating an optimal scanning path between the posture information of the sensor module at the current moment and the area to be scanned according to the area to be scanned; The visualization module is used to display the ultrasonic image information and the posture information acquired by the sensor module, and simultaneously display the target scanning area and the optimal scanning path.

2. The system according to claim 1, characterized in that The visualization module is also used to update the ultrasound image information, the posture information, the target scanning area and the optimal scanning path in real time according to the timestamp.

3. An ultrasonic scanning method, applied to an ultrasonic scanning navigation system, characterized in that: The method comprises: Collecting ultrasonic image information of the subject to be tested and the posture information of the sensor module, wherein the ultrasonic image information and the posture information include corresponding timestamps; the sensor module includes: an ultrasonic probe and a tracking sensor, and a flexible material layer is provided on the surface of the ultrasonic probe; the collecting of the ultrasonic image information of the subject to be tested and the posture information of the sensor module includes: The ultrasonic probe collects ultrasonic image information of the subject, and the tracking sensor collects position information of the sensor module, wherein the position information includes: position information of the sensor module and posture information of the sensor module; Aligning the timestamps between the ultrasound image information and the posture information; According to the ultrasound image information and the posture information, in the order of timestamps, a three-dimensional coordinate system of the ultrasound image information corresponding to each timestamp is obtained by coordinate transformation, and an interpolation algorithm is used to calculate the three-dimensional coordinate system to obtain a three-dimensional volume image corresponding to the ultrasound image; The method of obtaining a three-dimensional coordinate system of the ultrasonic image information corresponding to each timestamp by coordinate transformation according to the ultrasonic image information and the posture information in the order of timestamps includes: Performing a first coordinate transformation on the ultrasonic image information from a two-dimensional coordinate system to the tracking sensor coordinate system by using an ultrasonic probe calibration method; Perform a second coordinate transformation from the tracking sensor coordinate system to the world coordinate system according to the posture information; Performing a third coordinate transformation from the world coordinate system to the three-dimensional coordinate system of the ultrasound image information through coordinate calculation to obtain the three-dimensional coordinate system of the ultrasound image information corresponding to each timestamp; Performing image processing on the three-dimensional volume image, extracting three-dimensional boundary information of the subject to be tested by using a segmentation algorithm, and constructing a target scanning area of ​​the subject to be tested based on the three-dimensional boundary information; Input the three-dimensional volume image and the target scanning area into the physical model, output the area to be scanned, and calculate the optimal scanning path between the posture information of the sensor module at the current moment and the area to be scanned according to the area to be scanned; Display the ultrasonic image information and the posture information, and simultaneously display the target scanning area and the optimal scanning path; The operator traverses the target scanning area according to the optimal scanning path.

4. The method according to claim 3, characterized in that The method also includes: updating the ultrasound image information, the posture information, the target scanning area and the optimal scanning path in real time according to the timestamp.

5. An electronic device, characterized in that: The electronic device comprises: Processor; and A memory, wherein a computer program is stored in the memory, and the computer program is loaded and executed by the processor to implement the ultrasonic scanning method as claimed in claim 3 or 4.

6. A computer-readable storage medium having at least one computer program stored thereon, characterized in that: The computer program is loaded and executed by a processor to implement the ultrasonic scanning method as claimed in claim 3 or 4.

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