Ultrasonic probe fit detection method, device and equipment for carotid artery scanning

Abstract

The present invention relates to a method, device, and apparatus for detecting the fit of an ultrasonic probe for carotid artery scanning. The method obtains an ultrasonic image, confirms based on the ultrasonic image that the first center of gravity position of the ultrasonic probe is close to the carotid artery, and calculates the deflection angle; obtains the original force and original torque of the ultrasonic probe at the first center of gravity position, and calculates the decoupling torque; compares the relationship between the original force, original torque, decoupling torque, and deflection angle with the corresponding threshold value, and adjusts the rotation angle of the ultrasonic probe along the carotid artery. The technical solution provided by an embodiment of the present invention determines whether the center of gravity position confirmed by the ultrasonic image is in the center of the area to be measured to prevent the carotid artery from appearing at the edge of the ultrasonic image; determines whether the force applied to the ultrasonic probe is greater than the threshold by obtaining and / or calculating parameters such as the decoupling torque, and calculates the rotation angle that needs to be adjusted, thereby ensuring the fit between the ultrasonic probe and the neck and improving the effect of carotid artery scanning.

Description

Technical Field

[0001] The present invention relates to the field of ultrasonic scanning technology, and in particular to a method, device and equipment for detecting the fit of an ultrasonic probe for carotid artery scanning. Background Art

[0002] The human neck contains multiple blood vessels, including the internal carotid artery, external carotid artery, common carotid artery, external jugular vein, and anterior jugular vein. Therefore, scanning the neck vessels, particularly the carotid arteries, can effectively and timely detect vascular and / or blood pathology. Carotid artery scanning typically involves placing an ultrasound probe against the patient's neck to acquire ultrasound images.

[0003] The distribution of carotid arteries varies among patients. For example, the neck blood vessels of most elderly people are curved, so the blood vessel image in the ultrasound image cannot always be centered, so the position of the ultrasound probe needs to be constantly adjusted. However, the neck is not a smooth curved surface, and during scanning with the ultrasound probe, there may be incomplete fit. Therefore, the stability of the fit between the ultrasound probe and the human carotid artery cannot be guaranteed, which reduces the quality of ultrasound image acquisition and affects the scanning effect. Summary of the Invention

[0004] The present invention provides an ultrasonic probe fit detection method, device and equipment for carotid artery scanning, aiming to improve the stability of the fit between the ultrasonic probe and the carotid artery and ensure the scanning effect.

[0005] In a first aspect, an embodiment of the present invention provides a method for detecting fit of an ultrasound probe for carotid artery scanning, comprising:

[0006] Acquire an ultrasound image, confirm based on the ultrasound image that the first center of gravity of the ultrasound probe is close to the carotid artery and calculate the deflection angle;

[0007] At the first center of gravity position, the original force and original torque of the ultrasonic probe are obtained, and the decoupling torque is calculated;

[0008] The relationships among the original force, original torque, decoupling torque, deflection angle and corresponding thresholds were compared respectively, and the rotation angle of the ultrasound probe along the carotid artery was adjusted.

[0009] Optionally, acquiring an ultrasound image, confirming based on the ultrasound image that the first center of gravity of the ultrasound probe is close to the carotid artery, and calculating the deflection angle includes:

[0010] Acquire and intercept the ultrasound image to obtain the image area;

[0011] Binarize the image area and calculate the second centroid position of the image area;

[0012] The deflection angle of the image area is obtained according to the center position of the image area and the second center of gravity position.

[0013] Optionally, at the first center of gravity position, obtaining the original force and original torque of the ultrasound probe and calculating the decoupling torque specifically includes:

[0014] Obtaining the original torque and original force applied to the end of the ultrasound probe;

[0015] The decoupling torque is calculated based on the original torque and original force through the length of the ultrasonic probe.

[0016] Optionally, the corresponding thresholds include an original force threshold, an original torque threshold, a decoupling torque threshold, and a deflection angle threshold.

[0017] Optionally, respectively comparing the relationships between the original force, the original torque, the decoupling torque, the deflection angle, and the corresponding thresholds, and adjusting the rotation angle of the ultrasound probe along the carotid artery, specifically includes:

[0018] If the original force is greater than the original force threshold, compare the original torque with the original torque threshold;

[0019] If the original torque is greater than the original torque threshold, the rotation angle is calculated according to the original torque;

[0020] If the original torque is less than the original torque threshold, determining the decoupling torque and the decoupling torque threshold as well as the deflection angle and the deflection angle threshold respectively;

[0021] If the decoupling torque is greater than the decoupling torque threshold and the deflection angle is greater than the deflection angle threshold, or the decoupling torque is less than the decoupling torque threshold and the deflection angle is less than the deflection angle threshold, the rotation angle is calculated according to the deflection angle.

[0022] Optionally, if the original force is less than the original force threshold and the original torque is less than the original torque threshold, the decoupling torque and the decoupling torque threshold and the deflection angle and the deflection angle threshold are determined respectively;

[0023] If the decoupling torque is greater than the decoupling torque threshold and the deflection angle is greater than the deflection angle threshold, or the decoupling torque is less than the decoupling torque threshold and the deflection angle is less than the deflection angle threshold, the rotation angle is calculated according to the deflection angle.

[0024] In a second aspect, an embodiment of the present invention provides an ultrasound probe fit detection device for carotid artery scanning, comprising:

[0025] an ultrasound image confirmation module, configured to obtain an ultrasound image, confirm based on the ultrasound image that the first center of gravity of the ultrasound probe is close to the carotid artery, and calculate a deflection angle;

[0026] A decoupling torque module is used to obtain the original force and original torque of the ultrasonic probe at the first center of gravity position and calculate the decoupling torque;

[0027] The rotation angle adjustment module is used to respectively compare the relationship between the original force, the original torque, the decoupling torque, the deflection angle and the corresponding threshold value, and adjust the rotation angle of the ultrasound probe along the carotid artery.

[0028] Optionally, the first center of gravity position confirmation module is configured to perform the following operations:

[0029] Acquire and intercept the ultrasound image to obtain the image area;

[0030] Binarize the image area and calculate the second centroid position of the image area;

[0031] The deflection angle of the image area is obtained according to the center position of the image area and the second center of gravity position.

[0032] In a third aspect, an embodiment of the present invention provides an electronic device, the electronic device including: one or more processors;

[0033] a memory for storing one or more programs;

[0034] When one or more programs are executed by one or more processors, the one or more processors implement the ultrasound probe fit detection method for carotid artery scanning provided by any embodiment of the present invention.

[0035] In a fourth aspect, an embodiment of the present invention provides a storage medium comprising computer-executable instructions, which, when executed by a computer processor, are used to execute an ultrasound probe fit detection method for carotid artery scanning as provided in any embodiment of the present invention.

[0036] The ultrasound probe fit detection method, device, and apparatus for carotid artery scanning provided in the embodiments of the present invention determine whether the center of gravity position confirmed by ultrasound images is in the center of the area to be measured, thereby preventing the carotid artery from appearing at the edge of the ultrasound image; determine whether the force applied to the ultrasound probe is greater than a threshold by obtaining and / or calculating parameters such as the decoupling torque, and calculate the rotation angle that needs to be adjusted, thereby ensuring the fit between the ultrasound probe and the neck and improving the effect of carotid artery scanning. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 A flowchart of a method for detecting fit of an ultrasound probe for carotid artery scanning provided by an embodiment of the present invention;

[0038] Figure 2 A flowchart for calculating a deflection angle in a method for detecting fit of an ultrasonic probe for carotid artery scanning provided by an embodiment of the present invention;

[0039] Figure 3 This is a flow chart for calculating the decoupling torque in a method for detecting fit of an ultrasound probe for carotid artery scanning provided by an embodiment of the present invention;

[0040] Figure 4 This is a first flow chart for calculating a rotation angle in a method for detecting fit of an ultrasound probe for carotid artery scanning provided by an embodiment of the present invention;

[0041] Figure 5 This is a second flow chart for calculating a rotation angle in a method for detecting fit of an ultrasound probe for carotid artery scanning provided by an embodiment of the present invention;

[0042] Figure 6 1 is a schematic structural diagram of an ultrasonic probe fit detection device for carotid artery scanning provided by an embodiment of the present invention;

[0043] Figure 7 1 is a schematic structural diagram of an ultrasonic probe fitting detection device for carotid artery scanning provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0044] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0045] Currently, carotid artery scans often use an ultrasound probe placed against the patient's neck to acquire ultrasound images. However, the stability of the probe's contact with the carotid artery cannot be guaranteed, which reduces the quality of the ultrasound image and affects the effectiveness of the scan.

[0046] Example 1

[0047] In view of the above shortcomings, the present invention proposes a method for detecting the fit of an ultrasonic probe for carotid artery scanning. Figure 1 As shown, including:

[0048] S10: Acquire an ultrasound image, confirm based on the ultrasound image that the first center of gravity position of the ultrasound probe is close to the carotid artery and calculate the deflection angle, wherein the first center of gravity position is the center position of the bottom of the ultrasound probe, which is also the center position of the ultrasound image, so as to determine the position of the carotid artery in the ultrasound image. If the carotid artery is located at the edge of the ultrasound image, it is necessary to adjust the position of the ultrasound probe so that the carotid artery is centered in the image.

[0049] It should be added that after confirming the location of the blood vessels, it is also necessary to calculate the deflection angle of the image area by confirming the center of gravity of the ultrasound image. This is because the area image of the carotid artery is elliptical, and the deflection angle between the center of gravity of the ellipse and the midline of the ultrasound image is the deflection angle. The specific calculation process is as follows: Figure 2 As shown:

[0050] S11: Acquire and intercept the ultrasound image to obtain the image area; the interception method uses half of the image height as the interception point and selects the upper half of the image. This is because the lower half is mostly a shadow area and lacks effective information.

[0051] S12: Binarize the image area and calculate the second centroid position of the image area. Binarization can be performed in a variety of ways. The moment of the grayscale image is calculated using the function cv::moments() in the image processing software OpenCV, and the second centroid position is then calculated:

[0052] cx=int(mo.m10 / mo.m00)

[0053] cy=int(mo.m01 / mo.m00)

[0054] Where mo represents the parameters defined by humans in OpenCV

[0055] mo.m10 represents the first moment of the mo parameter;

[0056] mo.m01 represents the first moment of the mo parameter;

[0057] mo.m00 represents the 0th order moment of the mo parameter;

[0058] S13: Determine the deflection angle of the image region based on the center position and the second center of gravity position of the image region. The coordinates of the center position are startPos(valid / 2, 0). The coordinates of the center position are obtained using the second center of gravity positions cx and cy. During the movement of the ultrasound probe, these coordinates serve as the starting and ending positions of the robotic arm.

[0059] The calculation of the rollAngle is as follows:

[0060] dx=endPos(0)-startPos(0)

[0061] dy=endPos(1)-startPos(1)

[0062] rollAngle=M_PI / 2-atan2(dy,dx)

[0063] S20: At the first center of gravity, obtain the original force and original torque of the ultrasonic probe, and calculate the decoupling torque, as follows: Figure 3 Shown include:

[0064] S21: obtaining the original torque and original force applied to the end of the ultrasound probe;

[0065] S22: The decoupling torque is calculated based on the original torque and the original force using the length of the ultrasonic probe.

[0066] At the first center of gravity, a six-dimensional force sensor is installed between the ultrasonic probe and the robotic arm. The sensor detects the original torque and original force applied to the bottom of the ultrasonic probe. Therefore, it is necessary to calculate the decoupling torque applied to the top of the ultrasonic probe and adjust the rotation angle of the ultrasonic probe according to the decoupling torque. The specific calculation formula is as follows:

[0067] realTorquelnTcp=torquelnTcp-L*forcelnTcp

[0068] Among them, realTorquelnTcp represents the decoupling torque;

[0069] torquelnTcp represents the original torque;

[0070] forcelnTcp means original force;

[0071] L represents the length of the ultrasound probe.

[0072] It should be added here that in order to accurately describe the vector information of the above-mentioned decoupling torque, original torque and original force, a tool coordinate system is set, in which the horizontal direction along the blood vessel is set as the x-axis, the horizontal direction perpendicular to the blood vessel is set as the y-axis, and the vertical direction is set as the z-axis.

[0073] S30: Relationships between the original force, original torque, decoupling torque, and deflection angle and corresponding thresholds are compared, and the rotation angle of the ultrasound probe along the carotid artery is adjusted. Different calculation formulas are selected according to different relationships.

[0074] The corresponding thresholds include an original force threshold, an original torque threshold, a decoupling torque threshold, and a deflection angle threshold.

[0075] like Figure 4 As shown, S31: if the original force is greater than the original force threshold, compare the original torque with the original torque threshold;

[0076] S32: If the original torque is greater than the original torque threshold, the rotation angle is calculated based on the original torque; the original force threshold can be set to 2.7N. When the original force is greater than the threshold, it means that the original force needs to be rotated around the x-axis to eliminate excess force, and the original force is compared with the original force threshold in real time until the original force threshold requirement is met before the carotid artery can be aligned. The angle of rotation around the x-axis θ x It can be obtained by PID algorithm:

[0077]

[0078] Where kp = 0.005, ki = 0.0003, kd = 0.0001, representing the PID algorithm coefficients.

[0079] S33: If the original torque is less than the original torque threshold, the decoupling torque and the decoupling torque threshold as well as the deflection angle and the deflection angle threshold are determined respectively; wherein the decoupling torque threshold is ±0.1 Nm, the deflection angle threshold is 0.2 rad, and the above original torque threshold is 0.45 Nm.

[0080] S34: If the decoupling torque is greater than the decoupling torque threshold and the deflection angle is greater than the deflection angle threshold, or if the decoupling torque is less than the decoupling torque threshold and the deflection angle is less than the deflection angle threshold, the rotation angle is calculated based on the deflection angle. It should be noted that the original torque must be greater than the negative value of the original torque threshold, i.e., greater than -0.45 Nm. The angle of rotation around the x-axis θ x It can be obtained by PID algorithm:

[0081]

[0082] Another situation such as Figure 5 As shown, S31' if the original force is less than the original force threshold and the original torque is less than the original torque threshold, the decoupling torque and the decoupling torque threshold as well as the deflection angle and the deflection angle threshold are determined respectively; wherein the original force threshold is 2.7N, the original torque threshold is ±0.1Nm, the deflection angle threshold is 0.2rad, and the above original torque threshold is 0.45Nm.

[0083] S32′: If the decoupling torque is greater than the decoupling torque threshold and the deflection angle is greater than the deflection angle threshold, or if the decoupling torque is less than the decoupling torque threshold and the deflection angle is less than the deflection angle threshold, calculate the rotation angle according to the deflection angle.

[0084] Angle θ of rotation around the x-axis x It can be obtained by PID algorithm:

[0085]

[0086] Steps S34 and S32' indicate that the original force meets the requirement, and the angle between the ultrasound probe and the carotid artery needs to be adjusted to eliminate the influence of the deflection angle on the carotid artery in the ultrasound image.

[0087] The ultrasound probe fit detection method for carotid artery scanning provided in an embodiment of the present invention determines whether the center of gravity position confirmed by the ultrasound image is in the center of the test area to prevent the carotid artery from appearing at the edge of the ultrasound image; determines whether the force applied to the ultrasound probe is greater than a threshold by obtaining and / or calculating parameters such as the decoupling torque, and calculates the rotation angle that needs to be adjusted, thereby ensuring the fit between the ultrasound probe and the neck and improving the effect of carotid artery scanning.

[0088] Example 2

[0089] The present invention also proposes an ultrasonic probe fitting detection device for carotid artery scanning, such as Figure 6 As shown, including:

[0090] Ultrasonic image confirmation module 01, used to obtain an ultrasonic image, confirm that the first center of gravity of the ultrasonic probe is close to the carotid artery according to the ultrasonic image, and calculate the deflection angle;

[0091] The ultrasound image confirmation module 01 is configured to perform the following operations:

[0092] Acquire and intercept the ultrasound image to obtain the image area;

[0093] Binarize the image area and calculate the second centroid position of the image area;

[0094] The deflection angle of the image area is obtained according to the center position of the image area and the second center of gravity position.

[0095] The decoupling torque module 02 is used to obtain the original force and original torque of the ultrasound probe at the first center of gravity position and calculate the decoupling torque;

[0096] And the decoupling torque module 02 is configured to perform the following operations:

[0097] Obtaining the original torque and original force applied to the end of the ultrasound probe;

[0098] The decoupling torque is calculated based on the original torque and original force through the length of the ultrasonic probe.

[0099] Rotation Angle Adjustment Module 03 is used to compare the original force, original torque, decoupling torque, and deflection angle with corresponding thresholds to adjust the rotation angle of the ultrasound probe along the carotid artery. The corresponding thresholds include the original force threshold, the original torque threshold, the decoupling torque threshold, and the deflection angle threshold.

[0100] The rotation angle adjustment module 03 is configured to perform the following operations:

[0101] If the original force is greater than the original force threshold, compare the original torque with the original torque threshold;

[0102] If the original torque is greater than the original torque threshold, the rotation angle is calculated based on the original torque;

[0103] If the original torque is less than the original torque threshold, the decoupling torque and the decoupling torque threshold as well as the deflection angle and the deflection angle threshold are determined respectively;

[0104] If the decoupling torque is greater than the decoupling torque threshold and the deflection angle is greater than the deflection angle threshold, or the decoupling torque is less than the decoupling torque threshold and the deflection angle is less than the deflection angle threshold, the rotation angle is calculated according to the deflection angle.

[0105] Furthermore, if the original force is less than the original force threshold and the original torque is less than the original torque threshold, the decoupling torque and the decoupling torque threshold and the deflection angle and the deflection angle threshold are determined respectively;

[0106] If the decoupling torque is greater than the decoupling torque threshold and the deflection angle is greater than the deflection angle threshold, or the decoupling torque is less than the decoupling torque threshold and the deflection angle is less than the deflection angle threshold, the rotation angle is calculated according to the deflection angle.

[0107] An ultrasonic probe fit detection device for carotid artery scanning provided in an embodiment of the present invention adopts the same technical means as the ultrasonic probe fit detection method for carotid artery scanning to achieve the same technical effect, which will not be described in detail here.

[0108] Example 3

[0109] Figure 7 A schematic diagram of a structure of an ultrasonic probe fitting detection device for carotid artery scanning provided by an embodiment of the present invention, such as Figure 7 As shown, the ultrasonic probe fit detection device for carotid artery scanning includes a processor 710, a memory 720, an input device 730, and an output device 740; the number of processors 710 in the ultrasonic probe fit detection device for carotid artery scanning can be one or more. Figure 7 In the figure, a processor 710 is used as an example; the processor 710, the memory 720, the input device 730 and the output device 740 in the ultrasonic probe fitting detection device for carotid artery scanning can be connected via a bus or other means. Figure 6 The bus connection is taken as an example.

[0110] Memory 720, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the ultrasound probe fit detection method for carotid artery scanning in embodiments of the present invention (e.g., ultrasound image confirmation module, decoupling torque module, and rotation angle adjustment module). Processor 710 executes the software programs, instructions, and modules stored in memory 720 to execute various functional applications and data processing of the ultrasound probe fit detection device for carotid artery scanning, thereby implementing the aforementioned ultrasound probe fit detection method for carotid artery scanning.

[0111] Memory 720 may primarily include a program storage area and a data storage area. The program storage area may store an operating system and at least one application required for a function; the data storage area may store data generated based on the terminal's usage. Furthermore, memory 720 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state memory device. In some instances, memory 720 may further include memory remotely located relative to processor 710. Such remote memory may be connected to the ultrasound probe fit detection device used for carotid artery scanning via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0112] The input device 730 may be used to receive input digital or character information and generate key signal input related to user settings and function control of the ultrasound probe fit detection device for carotid artery scanning. The output device 740 may include a display device such as a display screen.

[0113] Example 4

[0114] Embodiment 4 of the present invention further provides a storage medium containing computer-executable instructions. When executed by a computer processor, the computer-executable instructions are used to perform an ultrasound probe fit detection method for carotid artery scanning, including:

[0115] Acquire an ultrasound image, confirm based on the ultrasound image that the first center of gravity of the ultrasound probe is close to the carotid artery and calculate the deflection angle;

[0116] At the first center of gravity position, the original force and original torque of the ultrasonic probe are obtained, and the decoupling torque is calculated;

[0117] The relationships among the original force, original torque, decoupling torque, deflection angle and corresponding thresholds were compared respectively, and the rotation angle of the ultrasound probe along the carotid artery was adjusted.

[0118] Of course, the computer-executable instructions of a storage medium including computer-executable instructions provided in an embodiment of the present invention are not limited to the operations of the above method, and can also execute related operations in the ultrasound probe fit detection method for carotid artery scanning provided in any embodiment of the present invention.

[0119] Through the above description of the implementation methods, those skilled in the art can clearly understand that the present invention can be implemented with the help of software and necessary general-purpose hardware, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk or optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods of various embodiments of the present invention.

[0120] It is worth noting that in the above-mentioned embodiment of the ultrasonic probe fit detection device for carotid artery scanning, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other and are not used to limit the scope of protection of the present invention.

[0121] Although the present invention has been described in detail above using general explanations, specific embodiments, and experiments, it will be apparent to those skilled in the art that modifications and improvements may be made based on the present invention. Therefore, such modifications and improvements, which do not depart from the spirit of the present invention, are intended to be within the scope of protection claimed herein.

Claims

1. A method for detecting the fit of an ultrasonic probe for carotid artery scanning, characterized in that: include: Acquiring an ultrasound image, confirming based on the ultrasound image that a first center of gravity of the ultrasound probe is close to the carotid artery and calculating a deflection angle; At the first center of gravity position, obtaining the original force and original torque about the ultrasound probe, and calculating the decoupling torque; respectively comparing the relationships between the original force, the original torque, the decoupling torque, the deflection angle and corresponding thresholds, and adjusting the rotation angle of the ultrasound probe along the carotid artery; The corresponding thresholds include an original force threshold, an original torque threshold, a decoupling torque threshold, and a deflection angle threshold; The comparing the relationships between the original force, the original torque, the decoupling torque, the deflection angle and the corresponding thresholds respectively and adjusting the rotation angle of the ultrasound probe along the carotid artery specifically includes: If the original force is greater than the original force threshold, comparing the original torque with the original torque threshold; If the original torque is greater than the original torque threshold, the rotation angle is calculated according to the original torque; If the original torque is less than the original torque threshold, determining the decoupling torque and the decoupling torque threshold, and the deflection angle and the deflection angle threshold respectively; If the decoupling torque is greater than the decoupling torque threshold and the deflection angle is greater than the deflection angle threshold, or the decoupling torque is less than the decoupling torque threshold and the deflection angle is less than the deflection angle threshold, the rotation angle is calculated according to the deflection angle.

2. The ultrasonic probe fit detection method for carotid artery scanning according to claim 1, characterized in that: The acquiring of the ultrasound image, confirming that the first center of gravity of the ultrasound probe is close to the carotid artery according to the ultrasound image and calculating the deflection angle include: Acquiring and intercepting the ultrasonic image to obtain an image area; Binarize the image area and calculate the second centroid position of the image area; The deflection angle of the image area is obtained according to the center position of the image area and the second center of gravity position.

3. The ultrasonic probe fitting detection method for carotid artery scanning according to claim 1, characterized in that: The step of obtaining the original force and original torque of the ultrasound probe at the first center of gravity position and calculating the decoupling torque specifically includes: Acquiring the original torque and the original force applied to the distal end of the ultrasound probe; The decoupling torque is calculated according to the original torque and the original force by using the length of the ultrasonic probe.

4. The ultrasonic probe fitting detection method for carotid artery scanning according to claim 1, characterized in that: If the original force is less than the original force threshold and the original torque is less than the original torque threshold, respectively determining the decoupling torque and the decoupling torque threshold and the deflection angle and the deflection angle threshold; If the decoupling torque is greater than the decoupling torque threshold and the deflection angle is greater than the deflection angle threshold, or the decoupling torque is less than the decoupling torque threshold and the deflection angle is less than the deflection angle threshold, the rotation angle is calculated according to the deflection angle.

5. An ultrasonic probe fit detection device for carotid artery scanning, characterized in that: include: an ultrasound image confirmation module, configured to acquire an ultrasound image, confirm based on the ultrasound image that the first center of gravity of the ultrasound probe is close to the carotid artery, and calculate a deflection angle; a decoupling torque module, configured to obtain an original force and an original torque of the ultrasound probe at the first center of gravity position, and calculate a decoupling torque; a rotation angle adjustment module, configured to respectively compare the relationships between the original force, original torque, decoupling torque, and the deflection angle with corresponding thresholds, and adjust the rotation angle of the ultrasound probe along the carotid artery; the corresponding thresholds include an original force threshold, an original torque threshold, a decoupling torque threshold, and a deflection angle threshold; The rotation angle adjustment module is configured to perform the following operations: If the original force is greater than the original force threshold, comparing the original torque with the original torque threshold; If the original torque is greater than the original torque threshold, the rotation angle is calculated according to the original torque; If the original torque is less than the original torque threshold, determining the decoupling torque and the decoupling torque threshold, and the deflection angle and the deflection angle threshold respectively; If the decoupling torque is greater than the decoupling torque threshold and the deflection angle is greater than the deflection angle threshold, or the decoupling torque is less than the decoupling torque threshold and the deflection angle is less than the deflection angle threshold, the rotation angle is calculated according to the deflection angle.

6. The device according to claim 5, characterized in that The first center of gravity position confirmation module is configured to perform the following operations: Acquiring and intercepting the ultrasonic image to obtain an image area; Binarize the image area and calculate the second centroid position of the image area; The deflection angle of the image area is obtained according to the center position of the image area and the second center of gravity position.

7. An electronic device, characterized in that: The electronic device comprises: one or more processors; a memory for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the ultrasound probe fitting detection method as described in any one of claims 1 to 4.

8. A storage medium containing computer-executable instructions, characterized in that: The computer executable instructions, when executed by a computer processor, are used to perform the ultrasound probe fit detection method according to any one of claims 1 to 4.

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