Skull contour measurement method and device, electronic equipment and storage medium

Abstract

The application discloses a skull contour measurement method and device, electronic equipment and a storage medium. The skull contour measurement method comprises the following steps: obtaining a to-be-measured skull and a target phased array; placing the target phased array at a target placement position for the to-be-measured skull; obtaining a target coordinate system; determining array element coordinate information corresponding to each array element in the target phased array based on the target coordinate system; for each target array element group, emitting an ultrasonic wave signal through a target transmitting array element, receiving an ultrasonic echo signal corresponding to the ultrasonic wave signal through the target transmitting array element and a target receiving array element, and determining a target point sub-set based on the ultrasonic echo signal and the array element coordinate information; determining a target point set corresponding to the to-be-measured skull based on the target point sub-set, and determining a contour measurement result of the to-be-measured skull based on the target point set. According to the technical scheme, the efficiency of skull measurement can be improved, and the accuracy of the determined contour measurement result of the to-be-measured skull can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of computer application, and in particular to a skull contour measurement method and device, electronic equipment and storage medium. BACKGROUND

[0002] Transcranial magnetic-acoustic electrical stimulation is a new non-invasive brain nerve stimulation method, which can act on deep brain nerve tissue through ultrasound and magnetic field, and has high spatial resolution and good stimulation depth. However, the acoustic parameters of the skull have strong non-uniformity, and the acoustic impedance of the skull and the surrounding brain tissue is quite different, so the shape and thickness of the skull need to be measured in advance.

[0003] In the prior art, common skull contour measurement methods include magnetic resonance imaging (Magnetic Resonance Imaging) and computed tomography (Computed Tomography, CT) imaging, but the cost and treatment time are high, and the shape and thickness of the skull measured are usually inaccurate, so the efficiency of skull contour measurement is low and the accuracy is poor. SUMMARY

[0004] The present application provides a skull contour measurement method, device, electronic equipment and storage medium to solve the technical problem of low efficiency and poor accuracy of skull measurement.

[0005] According to an aspect of the present application, a skull contour measurement method is provided, wherein the method comprises:

[0006] Obtaining a skull to be measured and a target phased array, placing the target phased array at a target placement position for the skull to be measured, obtaining a target coordinate system, determining array element coordinate information corresponding to each array element in the target phased array based on the target coordinate system, wherein the target phased array includes at least one target array element group, and the target array element group includes a target transmitting array element and a target receiving array element;

[0007] For each target array element group, the target transmitting array element transmits the ultrasonic signal, and the target transmitting array element and the target receiving array element receive the ultrasonic echo signal corresponding to the ultrasonic signal, and determine a target point subset based on the ultrasonic echo signal and the array element coordinate information.

[0008] Based on the target point subset, a target point set corresponding to the skull to be measured is determined, and based on the target point set, a contour measurement result of the skull to be measured is determined, wherein the contour measurement result includes shape information and / or thickness information.

[0009] According to another aspect of the present application, there is provided a skull profile measurement device, wherein the device comprises:

[0010] a coordinate information determination module configured to obtain a skull to be measured and a target phased array, place the target phased array at a target placement position with respect to the skull to be measured, obtain a target coordinate system, and determine array element coordinate information corresponding to the target phased array based on the target coordinate system;

[0011] a point subset determination module configured to, with respect to each target array element group, emit an ultrasonic wave signal and receive an ultrasonic echo signal corresponding to the ultrasonic wave signal, and determine a target point subset based on the ultrasonic echo signal and the array element coordinate information;

[0012] a measurement result determination module configured to determine a target point set corresponding to the skull to be measured based on the target point subset, and determine a profile measurement result of the skull to be measured based on the target point set, wherein the profile measurement result comprises shape information and thickness information.

[0013] According to another aspect of the present application, there is provided an electronic device, comprising:

[0014] at least one processor; and

[0015] a memory connected to the at least one processor in communication; wherein

[0016] 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 skull profile measurement method according to any one of the embodiments of the present application.

[0017] According to another aspect of the present application, there is provided a computer readable storage medium storing computer instructions for causing a processor to perform the skull profile measurement method according to any one of the embodiments of the present application when executed by the processor.

[0018] The technical scheme of the embodiment of the present application comprises the following steps: obtaining a skull to be measured and a target phased array, placing the target phased array at a target placement position for the skull to be measured, obtaining a target coordinate system, determining array element coordinate information corresponding to each array element in the target phased array based on the target coordinate system, wherein the target phased array comprises at least one target array element group, the target array element group comprises a target transmitting array element and a target receiving array element, after the target phased array is placed at the target placement position, the placement position of the target phased array does not need to be changed in the process of measuring a profile measurement result of the skull to be measured, and the measurement efficiency can be improved; for each target array element group, the target transmitting array element is used to emit the ultrasonic signal, the target transmitting array element and the target receiving array element are used to receive the ultrasonic echo signal corresponding to the ultrasonic signal, and a target point sub-set is determined based on the ultrasonic echo signal and the array element coordinate information, and the accuracy of the determined target point sub-set is improved; a target point set corresponding to the skull to be measured is determined based on the target point sub-set, a profile measurement result of the skull to be measured is determined based on the target point set, and the profile measurement result comprises shape information and / or thickness information, and the accuracy of the determined profile measurement result of the skull to be measured can be improved.

[0019] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0021] Figure 1 is a flow chart of a skull profile measurement method provided by the first embodiment of the present application;

[0022] Figure 2 is a flow chart of a skull profile measurement method provided by the second embodiment of the present application;

[0023] Figure 3 is a scene diagram for determining a target receiving array element to realize the embodiment of the present application;

[0024] Figure 4 is a flow chart of a skull profile measurement method provided by the third embodiment of the present application;

[0025] Figure 5is a scene graph of a target surface point of a skull outer surface for implementing the embodiment of the present application;

[0026] Figure 6 is a scene graph of a target surface point of a skull inner surface for implementing the embodiment of the present application;

[0027] Figure 7 is a structural schematic diagram of a skull contour measurement device according to the embodiment four of the present application;

[0028] Figure 8 is a structural schematic diagram of an electronic device for implementing a skull contour measurement method according to the embodiment of the present application. DETAILED DESCRIPTION

[0029] In order to make the personnel in the technical field better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by the personnel in the field without creative labor should belong to the protection scope of the present application.

[0030] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that the data used in this way can be exchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0031] Embodiment one

[0032] Figure 1 A flowchart of a skull contour measurement method according to the embodiment one of the present application is provided, the embodiment can be applicable to the case of physical measurement, the method can be executed by a skull contour measurement device, the skull contour measurement device can be realized in the form of hardware and / or software, and the skull contour measurement device can be configured in computer software. As shown in the figure, the method comprises: Figure 1

[0033] ​S110, acquire a skull to be measured and a target phased array, place the target phased array at a target placement position for the skull to be measured, acquire a target coordinate system, and determine array element coordinate information corresponding to each array element in the target phased array based on the target coordinate system.

[0034] The skull to be measured can be understood as a skull whose shape information and / or thickness information is to be measured. In an embodiment of the present application, the skull to be measured can be set according to scene requirements, which are not limited herein. Optionally, the skull to be measured can be an adult skull or a dummy model of an adult skull.

[0035] The target phased array can be understood as a linear phased array composed of a plurality of array elements. In an embodiment of the present application, the target phased array can be preset according to scene requirements, which are not limited herein. Optionally, the target phased array can be a linear phased array of 64 array elements. Further, for the target phased array, the array element center spacing can be 1.5 mm, the array element width can be 20 mm, the total length of the phased array can be 95.7 mm, and the frequency can be 0.5 MHz.

[0036] The target placement position can be understood as a placement position of the target phased array for the skull to be measured. It should be understood that the contour measurement result of the skull to be measured includes shape information and / or thickness information, wherein the shape information can include an inner surface shape and an outer surface shape corresponding to the skull to be measured. In an embodiment of the present application, the placement position of the target phased array can be different when determining the inner surface shape and the outer surface shape, that is, the target placement position can be different.

[0037] Optionally, the target placement position can include a first placement position at a preset distance from the outer surface of the skull to be measured, and a second placement position in close contact with the outer surface of the skull to be measured. Specifically, for the skull to be measured, the target phased array is placed at the first placement position to determine the outer surface shape of the skull to be measured, and the target phased array is placed at the second placement position to determine the inner surface shape of the skull to be measured.

[0038] The target coordinate system can be understood as a coordinate system that can quantitatively describe the relative positional relationship between each array element in the target phased array. Optionally, the target coordinate system can be a rectangular coordinate system.

[0039] The array element coordinate information can be understood as coordinate information of each array element in the target phased array determined based on the target coordinate system. In an embodiment of the present application, the array element coordinate information can be preset according to scene requirements, which is not limited herein. Optionally, the array element coordinate information can include horizontal coordinate information and vertical coordinate information of the array element. For example, the array element coordinate information can be (x i , y i ).

[0040] S120, for each target array element group, transmitting the ultrasonic wave signal through the target transmitting array element, receiving the ultrasonic echo signal corresponding to the ultrasonic wave signal through the target transmitting array element and the target receiving array element, and determining a target point subset based on the ultrasonic echo signal and the array element coordinate information.

[0041] The target array element group can be understood as at least one array element group determined for the target phased array. Optionally, the target phased array includes at least one target array element group, and the target array element group includes a target transmitting array element and a target receiving array element.

[0042] The target transmitting array element can be understood as an array element that transmits the ultrasonic wave signal, and the target receiving array element can be understood as an array element that receives the ultrasonic echo signal corresponding to the ultrasonic wave signal. The ultrasonic echo signal can be understood as an echo signal obtained by reflecting the ultrasonic wave signal on the skull to be measured.

[0043] The target point subset can be understood as a set of surface points of part of the skull to be measured. Optionally, the target point subset can include an inner surface point subset and an outer surface point subset.

[0044] S130, determining a target point set corresponding to the skull to be measured based on the target point subset, and determining a contour measurement result of the skull to be measured based on the target point set.

[0045] The target point set can be understood as a set of all surface points of the skull to be measured. Optionally, the target point set can include an inner surface point set and an outer surface point set.

[0046] Optionally, the determination of the target point set corresponding to the skull to be measured based on the target point subset includes:

[0047] determining the outer surface point set corresponding to the skull to be measured based on the outer surface point subset, and determining the inner surface point set corresponding to the skull to be measured based on the inner surface point subset.

[0048] The contour measurement result can be understood as a result corresponding to the skull to be measured. Optionally, the contour measurement result can include shape information and / or thickness information.

[0049] Optionally, the contour measurement result of the skull to be measured is determined based on the target point set, including:

[0050] The curve fitting is performed on the outer surface point set to obtain the skull outer surface information of the skull to be measured, and the curve fitting is performed on the inner surface point set to obtain the skull outer surface information of the skull to be measured.

[0051] Based on the skull outer surface information and the skull inner surface information, the contour measurement result corresponding to the skull to be measured is determined by MATLAB.

[0052] The technical scheme of the embodiment of the present application comprises the following steps: obtaining a skull to be measured and a target phased array, placing the target phased array at a target placement position for the skull to be measured, obtaining a target coordinate system, determining array element coordinate information corresponding to each array element in the target phased array based on the target coordinate system, wherein the target phased array comprises at least one target array element group, the target array element group comprises a target transmitting array element and a target receiving array element, after placing the target phased array at the target placement position, the placement position of the target phased array does not need to be changed during the measurement of the contour measurement result of the skull to be measured, and the measurement efficiency can be improved; for each target array element group, the target transmitting array element transmits the ultrasonic signal, the target transmitting array element and the target receiving array element receive the ultrasonic echo signal corresponding to the ultrasonic signal, and a target point subset is determined based on the ultrasonic echo signal and the array element coordinate information, thereby improving the accuracy of the determined target point subset; a target point set corresponding to the skull to be measured is determined based on the target point subset, a contour measurement result of the skull to be measured is determined based on the target point set, and the contour measurement result includes shape information and / or thickness information. The accuracy of the determined contour measurement result of the skull to be measured can be improved.

[0053] Embodiment two

[0054] Figure 2 A flowchart of a skull contour measurement method provided by the second embodiment of the present application is provided. The present embodiment is an addition to the above-mentioned embodiment of the present application. As shown in FIG. 2, the method comprises the following steps. Figure 2

[0055] ​S210, acquire a skull to be measured and a target phased array, place the target phased array at a target placement position for the skull to be measured, acquire a target coordinate system, and determine array element coordinate information corresponding to each array element in the target phased array based on the target coordinate system.

[0056] S220, for the target phased array, determine a target transmitting array element and at least one target receiving array element corresponding to each target transmitting array element.

[0057] Optionally, the target transmitting array element includes a regular transmitting array element and a compensation transmitting array element; the target phased array includes a plurality of initial array elements; and the determination of the at least one target receiving array element corresponding to each target transmitting array element includes:

[0058] for the regular transmitting array element, a first number of the initial array elements along a first preset direction are determined as the target receiving array elements corresponding to the regular transmitting array element;

[0059] for the compensation transmitting array element, a second number of the initial array elements along the first preset direction and a third number of the initial array elements along a second preset direction are determined as the target receiving array elements corresponding to the compensation transmitting array element.

[0060] The first preset direction can be understood as a direction for determining the target receiving array element for the regular transmitting array element. In the embodiment of the present application, the first preset direction can be preset according to scene requirements, which is not limited herein. The second preset direction can be understood as a direction for determining the target receiving array element for the compensation transmitting array element, which is different from the first preset direction. In the embodiment of the present application, the second preset direction can be preset according to scene requirements, which is not limited herein.

[0061] In summary, it can be understood that for the regular transmitting array element, the target receiving array element can be determined based on one preset direction, and for the compensation transmitting array element, the target receiving array element can be determined based on two preset directions. Further, the target phased array can include a plurality of regular transmitting array elements, and the first preset direction for determining the target receiving array element can be different when the regular transmitting array elements are different.

[0062] In the embodiment of the present application, the first number, the second number and the third number can be preset according to scene requirements, which is not limited herein. The first number, the second number and the third number can be the same or different. For example, the first number, the second number or the third number can be 2, 4, 6, etc.

[0063] S230, determining the target array element group according to the target transmitting array element and the target receiving array element.

[0064] Optionally, the determining the target array element group according to the target transmitting array element and the target receiving array element comprises:

[0065] For each of the normal transmitting array element, the target transmitting array element and the target receiving array element corresponding to the target transmitting array element are determined as the target array element group.

[0066] For each of the compensation transmitting array element, the target receiving array element is divided into normal receiving array element and compensation receiving array element, and the compensation transmitting array element and the normal receiving array element corresponding to the compensation transmitting array element, and the compensation transmitting array element and the compensation receiving array element corresponding to the compensation transmitting array element are determined as the target array element group.

[0067] Figure 3 is a scene diagram for determining the target receiving array element for realizing the embodiment of the application, as Figure 3 shown, Z represents the outer surface of the skull, and specifically, the flow of determining the target receiving array element can be:

[0068] 1. The target phased array of 64 array elements is numbered from right to left, the first array element numbered from the right is the first array element, and the first array element numbered from the left is the 64th array element. Among the array elements in the target phased array, the array elements can be target transmitting array elements or target receiving array elements, and the target transmitting array elements can transmit ultrasonic signals or receive ultrasonic echo signals.

[0069] 2. When the 9th-56th array elements are used as target transmitting array elements, the first 9 array elements of the phased array are divided into a group, the 9th array element is used as a target transmitting array element, and the 1st, 2nd, 3rd, and 4th array elements are used as target receiving array elements.

[0070] 3. The 9th-28th array elements are determined as first normal transmitting array elements, and for each of the first normal transmitting array elements, the i-5th, i-6th, i-7th, and i-8th array elements are used as target receiving array elements corresponding to the first normal transmitting array elements.

[0071] 4. The 29th-32nd array elements are determined as first compensation transmitting array elements, and for the first compensation transmitting array elements, the i-5th, i-6th, i-7th, and i-8th array elements are used as normal receiving array elements corresponding to the first compensation transmitting array elements; the i+5th, i+6th, i+7th, and i+8th array elements are used as compensation receiving array elements corresponding to the first compensation transmitting array elements, and the normal receiving array elements and the compensation receiving array elements are used as target receiving array elements corresponding to the first compensation transmitting array elements.

[0072] 5. Determine the 37th-56th array elements as second regular transmitting array elements, for each of the second regular transmitting array elements, the i+5th, i+6th, i+7th and i+8th array elements are taken as target receiving array elements corresponding to the second regular transmitting array elements.

[0073] 6. Determine the 23rd-36th array elements as second compensation transmitting array elements, for the second compensation transmitting array elements, the i+5th, i+6th, i+7th and i+8th array elements are taken as regular receiving array elements corresponding to the second compensation transmitting array elements; the i-5th, i-6th, i-7th and i-8th array elements are taken as compensation receiving array elements corresponding to the second compensation transmitting array elements, and the regular receiving array elements and the compensation receiving array elements are taken as target receiving array elements corresponding to the second compensation transmitting array elements simultaneously.

[0074] S240. For each target array element group, transmit the ultrasonic wave signal through the target transmitting array element, receive the ultrasonic echo signal corresponding to the ultrasonic wave signal through the target transmitting array element and the target receiving array element, and determine a target point sub-set based on the ultrasonic echo signal and the array element coordinate information.

[0075] S250. Determine a target point set corresponding to the to-be-measured skull based on the target point sub-set, and determine the contour measurement result of the to-be-measured skull based on the target point set.

[0076] The technical scheme of the embodiment of the present application can improve the accuracy of the determined target array element group, so as to ensure the accuracy of the contour measurement result of the to-be-measured skull determined based on the target array element group.

[0077] Embodiment three

[0078] Figure 4 A flowchart of a skull contour measurement method provided by the third embodiment of the present application, the present embodiment is refined based on the determination of the target point sub-set based on the ultrasonic echo signal and the array element coordinate information in the above-mentioned embodiments. As shown in the figure, the method comprises the following steps: Figure 4

[0079] S310. Obtain a to-be-measured skull and a target phased array, place the target phased array at a target placement position for the to-be-measured skull, obtain a target coordinate system, and determine array element coordinate information corresponding to each array element in the target phased array based on the target coordinate system.

[0080] ​S320, for each target element group, transmitting the ultrasonic wave signal through the target transmitting element and receiving the ultrasonic echo signal corresponding to the ultrasonic wave signal through the target transmitting element and the target receiving element.

[0081] S330, for the target transmitting element and each target receiving element, determining a target surface point according to the ultrasonic echo signal and the element coordinate information.

[0082] The target surface point can be understood as a surface point of the skull to be measured.

[0083] Optionally, the determining of the target surface point according to the ultrasonic echo signal and the element coordinate information comprises:

[0084] determining an envelope signal corresponding to the ultrasonic echo signal, and determining a first time and a second time based on the envelope signal, wherein the first time is an interval time from the transmission of the ultrasonic wave signal by the target transmitting element to the reception of the ultrasonic echo signal by the target transmitting element, and the second time is an interval time from the transmission of the ultrasonic wave signal by the target transmitting element to the reception of the ultrasonic echo signal by the target receiving element;

[0085] determining the target surface point based on the first time, the second time and the element coordinate information.

[0086] In the embodiment of the present application, optionally, the determining of the envelope signal corresponding to the ultrasonic echo signal and the determining of the first time and the second time based on the envelope signal comprise:

[0087] determining an analytic signal corresponding to the ultrasonic echo signal through Hilbert transform, and obtaining an envelope signal based on the analytic signal, wherein the envelope signal comprises a first signal corresponding to the target transmitting element and a second signal corresponding to the target receiving element;

[0088] determining a first peak point of the first signal, determining the first peak point as the first time, determining a second peak point of the second signal, and determining the second peak point as the second time.

[0089] Optionally, the determining of the target surface point based on the first time, the second time and the element coordinate information comprises:

[0090] determining a target sound speed and an element spacing, and determining a first distance from the target transmitting element to the target surface point and a second distance from the target receiving element to the target surface point based on the first time, the second time, the element spacing and the target sound speed.

[0091] determine a third distance from the target surface point to a straight line corresponding to the element spacing and a fourth distance from the target transmitting element to a straight line corresponding to the third distance according to the first distance, the second distance and the element spacing;

[0092] determine a surface point coordinate according to the third distance, the fourth distance and the element coordinate information, and obtain the target surface point according to the surface point coordinate.

[0093] Optionally, the determining the first distance from the target transmitting element to the target surface point and the second distance from the target receiving element to the target surface point according to the first time, the second time, the element spacing and the target sound speed comprises:

[0094] determining the first distance from the target transmitting element to the target surface point and the second distance from the target receiving element to the target surface point according to the first time, the second time, the element spacing and the target sound speed by the following formula:

[0095] , ,

[0096] , ;

[0097] wherein, represents the first distance, represents the second distance, represents the first time, represents the second time, and c represents the target sound speed, represents the distance from the target transmitting element to the skull to be measured.

[0098] Optionally, the determining the third distance from the target surface point to a straight line corresponding to the element spacing and the fourth distance from the target transmitting element to a straight line corresponding to the third distance according to the first distance, the second distance and the element spacing comprises:

[0099] determining the third distance from the target surface point to a straight line corresponding to the element spacing and the fourth distance from the target transmitting element to a straight line corresponding to the third distance according to the first distance, the second distance and the element spacing by the following formula:

[0100] ;

[0101] wherein, represents the third distance, represents the fourth distance, represents the first distance, D represents the distance between the array elements.

[0102] Figure 5 is a scene diagram for determining a target surface point of the outer surface of the skull in an embodiment of the present application. As shown in Figure 5 , i represents a target transmitting array element, k represents a target receiving array element, Z represents the outer surface of the skull, and Y represents the inner surface of the skull. Specifically, the flow of determining the target surface point can be as follows:

[0103] 1. After the ultrasonic signal transmitted by the array element i is reflected by the outer surface of the skull, the array elements i and k simultaneously receive the ultrasonic echo signal. The received ultrasonic echo signal is subjected to Hilbert transform to obtain an analytic signal, and an envelope signal is obtained based on the analytic signal.

[0104] 2. The peak point of the envelope signal of the array element i is taken as the time of the reflection of the ultrasonic signal from the array element i to the Q point and back to the array element i, and the peak point of the envelope signal of the array element k is taken as the time of the reflection of the ultrasonic signal from the array element i to the E point and to the receiving array element k. The distance from the array element i to the Q point is , the distance from the array element i to the E point is , and the distance from the array element k to the E point is . Wherein,

[0105] (1), (2)

[0106] From (1) and (2), we have:

[0107] (3), (4)

[0108] 3. Assuming that the normal AQ of the Q point on the skull surface and the normal EL of the E point on the outer surface of the skull are approximately parallel, and the normal of the E point is the angle bisector of ∠AEB, then ∠QAE = ∠BEL = ∠ACE = .

[0109] In triangles CAB and AQE, we have:

[0110] (5)

[0111] (6)

[0112] From (5) and (6), we have:

[0113] (7)

[0114] 4. Given that the speed of sound in pure water c = 1500 m / s, from (2) and (4), we have:

[0115] (8)

[0116] In △AEF and △BEF, we have:

[0117] (9)

[0118] (10)

[0119] From (9) and (10), we have:

[0120] (11) (12)

[0121] 5. E is the point on the outer surface of the skull calculated by the algorithm. The coordinates of point E (x, y, z) can be represented by: When the transmitting element i is located on the left side of point E, the coordinates of point E (x, y, z) can be represented as:

[0122] (13) (14)

[0123] When the transmitting element is located on the right side of point E, the coordinates of point E (x, y, z) can be represented as:

[0124] (15) (16)

[0125] 6. When detecting the inner surface of the skull, it is necessary to ensure that the transmitting element and the receiving element are in close contact with the outer surface of the skull. At this time, the medium between the inner surface of the skull and the phased array is the skull. The calculation method of the coordinates of the inner surface point of the skull is the same as that of the outer surface point (refer to Figure 6 ).

[0126] S340, for each target array element group, based on a plurality of target surface points, a target point sub-set is obtained.

[0127] It can be understood that the target array element group includes a target transmitting element and at least one target receiving element, and the target transmitting element and each target receiving element can determine a target surface point, respectively. Therefore, for each target array element group, the same number of target surface points as the target receiving element can be obtained as the target point sub-set.

[0128] ​​​​S350. Determine the target point set corresponding to the skull to be measured based on the target point subset, and determine the contour measurement result of the skull to be measured based on the target point set.

[0129] The technical solution of this invention determines target surface points based on the ultrasonic echo signal and the coordinate information of each target transmitting array element and each target receiving array element; and for each target array element group, a subset of target points is obtained based on multiple target surface points. This improves the accuracy of the determined target surface points and the accuracy of the subset of target points determined based on the target surface points.

[0130] Example 4

[0131] Figure 7 This is a schematic diagram of a skull contour measuring device provided in Embodiment 4 of the present invention. Figure 7 As shown, the device includes: a coordinate information determination module 410, a point set determination module 420, and a measurement result determination module 430; wherein,

[0132] The coordinate information determination module 410 is used to acquire the skull to be measured and the target phased array, place the target phased array at the target placement position for the skull to be measured, acquire the target coordinate system, and determine the array element coordinate information corresponding to the target phased array based on the target coordinate system; the point set determination module 420 is used to transmit an ultrasonic signal and receive the ultrasonic echo signal corresponding to the ultrasonic signal for each target array element, and determine the target point set based on the ultrasonic echo signal and the array element coordinate information; the measurement result determination module 430 is used to determine the target point set corresponding to the skull to be measured based on the target point set, and determine the contour measurement result of the skull to be measured based on the target point set, wherein the contour measurement result includes shape information and thickness information.

[0133] The technical scheme of the embodiment of the present application comprises the following steps: obtaining a skull to be measured and a target phased array, placing the target phased array at a target placement position for the skull to be measured, obtaining a target coordinate system, determining array element coordinate information corresponding to each array element in the target phased array based on the target coordinate system, wherein the target phased array comprises at least one target array element group, the target array element group comprises a target transmitting array element and a target receiving array element, after the target phased array is placed at the target placement position, the placement position of the target phased array does not need to be changed in the process of measuring a profile measurement result of the skull to be measured, and the measurement efficiency can be improved; for each target array element group, the target phased array emits an ultrasonic signal through the target transmitting array element, and the target phased array receives an ultrasonic echo signal corresponding to the ultrasonic signal through the target transmitting array element and the target receiving array element, and determines a target point sub-set based on the ultrasonic echo signal and the array element coordinate information, thereby improving the accuracy of the determined target point sub-set; a target point set corresponding to the skull to be measured is determined based on the target point sub-set, and a profile measurement result of the skull to be measured is determined based on the target point set, wherein the profile measurement result comprises shape information and / or thickness information. The accuracy of the determined profile measurement result of the skull to be measured can be improved.

[0134] Optionally, the skull profile measurement device further comprises a receiving array element determination module and an array element group determination module; wherein,

[0135] The receiving array element determination module is configured to, before the step of emitting the ultrasonic signal through the target transmitting array element for each target array element group, determine a target transmitting array element for the target phased array, and determine at least one target receiving array element corresponding to each target transmitting array element.

[0136] The array element group determination module is configured to determine the target array element group according to the target transmitting array element and the target receiving array element.

[0137] Optionally, the target transmitting array element comprises a regular transmitting array element and a compensation transmitting array element; the target phased array comprises a plurality of initial array elements; and the receiving array element determination module is configured to:

[0138] for the regular transmitting array element, a first number of the initial array elements along a first preset direction are determined as the target receiving array elements corresponding to the regular transmitting array element;

[0139] for the compensation transmitting array element, a second number of the initial array elements along the first preset direction and a third number of the initial array elements along a second preset direction are determined as the target receiving array elements corresponding to the compensation transmitting array element.

[0140] Optionally, the array element group determination module is configured to:

[0141] for each of the regular transmit elements, the target transmit element and the target receive element corresponding to the target transmit element are determined as the target element group;

[0142] for each of the compensation transmit elements, the target receive elements are divided into regular receive elements and compensation receive elements, and the regular receive elements corresponding to the compensation transmit elements and the compensation receive elements corresponding to the compensation transmit elements are respectively determined as the target element group.

[0143] Optionally, the point subset determination module 420 comprises a surface point determination unit and a point subset determination unit; wherein,

[0144] The surface point determination unit is configured to determine, for the target transmit element and each of the target receive elements, a target surface point according to the ultrasonic echo signal and the element coordinate information.

[0145] The point subset determination unit is configured to obtain, for each of the target element group, the target point subset based on a plurality of the target surface points.

[0146] Optionally, the surface point determination unit comprises a time determination subunit and a surface point determination subunit; wherein,

[0147] The time determination subunit is configured to determine an envelope signal corresponding to the ultrasonic echo signal, and determine a first time and a second time based on the envelope signal, wherein the first time is an interval time from the target transmit element transmitting the ultrasonic wave signal to the target transmit element receiving the ultrasonic echo signal, and the second time is an interval time from the target transmit element transmitting the ultrasonic wave signal to the target receive element receiving the ultrasonic echo signal.

[0148] The surface point determination subunit is configured to determine a target surface point based on the first time, the second time, and the element coordinate information.

[0149] Optionally, the surface point determination subunit is configured to:

[0150] determine a target sound speed and an element spacing, determine a first distance from the target transmit element to the target surface point and a second distance from the target receive element to the target surface point based on the first time, the second time, the element spacing, and the target sound speed;

[0151] determine a third distance of a straight line corresponding to the element spacing from the target surface point and a fourth distance of a straight line corresponding to the third distance from the target transmit element based on the first distance, the second distance, and the element spacing.

[0152] determine a surface point coordinate according to the third distance, the fourth distance and the array element coordinate information, and obtain the target surface point according to the surface point coordinate.

[0153] Optionally, the surface point determining subunit is used for:

[0154] determine a first distance from the target transmitting array element to the target surface point and a second distance from the target receiving array element to the target surface point based on the first time, the second time, the array element spacing and the target sound speed according to the following formula:

[0155] , ,

[0156] , ;

[0157] wherein, the first distance is represented by d1, the second distance is represented by d2, the first time is represented by t1, the second time is represented by t2, and c represents the target sound speed, the distance from the target transmitting array element to the skull to be measured is represented by d0.

[0158] Optionally, the surface point determining subunit is used for:

[0159] determine a third distance from the target surface point to a straight line corresponding to the array element spacing and a fourth distance from the target transmitting array element to a straight line corresponding to the third distance according to the first distance, the second distance and the array element spacing according to the following formula:

[0160] ;

[0161] wherein, the third distance is represented by d3, the fourth distance is represented by d4, the first distance is represented by d1, the second distance is represented by d2, and D represents the array element spacing.

[0162] The skull contour measuring device provided by the embodiments of the present application can execute the skull contour measuring method provided by any of the embodiments of the present application, and has the corresponding function modules and beneficial effects of the execution method.

[0163] Embodiment five

[0164] Figure 8A schematic diagram of an electronic device 10, which can be used to implement embodiments of the present invention, is shown. The electronic device 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 can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., 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.

[0165] like Figure 8 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 can 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.

[0166] 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.

[0167] 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, digital signal processors (DSPs), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the skull contour measurement method.

[0168] In some embodiments, the skull profile measurement method can be implemented as a computer program tangibly embodied in a computer readable storage medium, e.g., storage unit 18. In some embodiments, parts or all of the computer program can be loaded and / or installed onto electronic device 10 via, e.g., ROM 12 and / or communication unit 19. When the computer program is loaded onto RAM 13 and executed by processor 11, one or more steps of the above-described skull profile measurement method can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the skull profile measurement method by other means, e.g., with the aid of firmware.

[0169] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, specially designed application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0170] Computer programs used to implement the methods of the application 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, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the computer program, when executed by the processor of the machine, implements the functions / acts specified in the flowcharts and / or block diagrams. The computer program can be executed entirely on a machine, partially on a machine, partially on a machine and partially on a remote machine or entirely on a remote machine or server.

[0171] 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.

[0172] 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).

[0173] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or 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.

[0174] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0175] It should be understood that the various forms of flow shown above can be reordered, added to, or have steps deleted. For example, the steps described in the present application can be performed in parallel, in series, or in a different order, as long as the desired results of the technical solutions of the present application can be achieved, which are not limited herein.

[0176] The above detailed description does not constitute a limitation on the protection scope of the present application. 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 replacements, and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method of measuring the contour of a skull, characterized in that, The method comprises: acquiring a skull to be measured and a target phased array, placing the target phased array in a target placement position for the skull to be measured, acquiring a target coordinate system, determining array element coordinate information corresponding to each array element in the target phased array based on the target coordinate system, wherein the target phased array comprises at least one target array element group, and the target array element group comprises a target transmitting array element and a target receiving array element; for each target array element group, transmitting an ultrasonic wave signal through the target transmitting array element, receiving an ultrasonic echo signal corresponding to the ultrasonic wave signal through the target transmitting array element and the target receiving array element, and determining a target point sub-set based on the ultrasonic echo signal and the array element coordinate information; determining a target point set corresponding to the skull to be measured based on the target point sub-set, and determining a contour measurement result of the skull to be measured based on the target point set, wherein the contour measurement result comprises shape information and / or thickness information; the determining of the target point sub-set based on the ultrasonic echo signal and the array element coordinate information comprises: for the target transmitting array element and each target receiving array element, determining a target surface point based on the ultrasonic echo signal and the array element coordinate information; for each target array element group, obtaining the target point sub-set based on a plurality of target surface points; the determining of the target surface point based on the ultrasonic echo signal and the array element coordinate information comprises: determining an envelope signal corresponding to the ultrasonic echo signal, determining a first time and a second time based on the envelope signal, wherein the first time is an interval time from the transmission of the ultrasonic wave signal by the target transmitting array element to the reception of the ultrasonic echo signal by the target transmitting array element, and the second time is an interval time from the transmission of the ultrasonic wave signal by the target transmitting array element to the reception of the ultrasonic echo signal by the target receiving array element; determining a target surface point based on the first time, the second time, and the array element coordinate information.

2. The method of claim 1, wherein, Before the transmitting of the ultrasonic wave signal by the target transmitting array element for each target array element group, the method further comprises: for the target phased array, determining a target transmitting array element, and determining at least one target receiving array element corresponding to each target transmitting array element; determining the target array element group based on the target transmitting array element and the target receiving array element.

3. The method of claim 2, wherein, The target transmitting array element comprises a regular transmitting array element and a compensation transmitting array element; and the determining of the at least one target receiving array element corresponding to each target transmitting array element comprises: for the regular transmitting array element, determining a first number of initial array elements along a first preset direction as the target receiving array element corresponding to the regular transmitting array element; for the compensation transmitting array element, determining a second number of initial array elements along the first preset direction and a third number of initial array elements along a second preset direction as the target receiving array element corresponding to the compensation transmitting array element.

4. The method of claim 3, wherein, the determining of the target array element group based on the target transmitting array element and the target receiving array element comprises: For each of the regular transmitting elements, the target transmitting element and the target receiving element corresponding to the target transmitting element are determined as the target element group; For each of the compensation transmitting elements, the target receiving elements are divided into regular receiving elements and compensation receiving elements, and the regular receiving elements and the compensation receiving elements corresponding to the compensation transmitting elements are respectively determined as the target element group.

5. The method of claim 1, wherein, The target surface point is determined based on the first time, the second time, and the element coordinate information, including: The target sound speed and the element spacing are determined, and the first distance from the target transmitting element to the target surface point and the second distance from the target receiving element to the target surface point are determined based on the first time, the second time, the element spacing, and the target sound speed; The third distance from the target surface point to the straight line corresponding to the element spacing and the fourth distance from the target transmitting element to the straight line corresponding to the third distance are determined according to the first distance, the second distance, and the element spacing; The surface point coordinates are determined according to the third distance, the fourth distance, and the element coordinate information, and the target surface point is obtained according to the surface point coordinates.

6. The method of claim 5, wherein, The target sound speed and the element spacing are determined, and the first distance from the target transmitting element to the target surface point and the second distance from the target receiving element to the target surface point are determined based on the first time, the second time, the element spacing, and the target sound speed, including: The first distance from the target transmitting element to the target surface point and the second distance from the target receiving element to the target surface point are determined based on the first time, the second time, the element spacing, and the target sound speed by the following formula: ， ， ， ； wherein, denotes a first distance, denotes a second distance, denotes a first time, denotes a second time, c denotes a target sound speed, denotes a distance between a target transmitting element and a skull to be measured, D denotes an element interval.

7. The method of claim 5, wherein, The third distance from the target surface point to the straight line corresponding to the element spacing and the fourth distance from the target transmitting element to the straight line corresponding to the third distance are determined according to the first distance, the second distance, and the element spacing, including: The third distance from the target surface point to the straight line corresponding to the element spacing and the fourth distance from the target transmitting element to the straight line corresponding to the third distance are determined according to the first distance, the second distance, and the element spacing by the following formula: ； wherein, represents a third distance, represents a fourth distance, represents a first distance, represents a second distance, D represents an inter-element distance.

8. A skull profile measuring device, characterized in that It includes: The coordinate information determination module is used for acquiring a to-be-measured skull and a target phased array, placing the target phased array at a target placement position for the to-be-measured skull, acquiring a target coordinate system, and determining element coordinate information corresponding to the target phased array based on the target coordinate system; The point subset determination module is used for emitting an ultrasonic signal and receiving an ultrasonic echo signal corresponding to the ultrasonic signal for each target element group, and determining a target point subset based on the ultrasonic echo signal and the element coordinate information; The measurement result determination module is used for determining a target point set corresponding to the to-be-measured skull based on the target point subset, and determining a contour measurement result of the to-be-measured skull based on the target point set, wherein the contour measurement result includes shape information and thickness information. The point set determination module comprises a surface point determination unit and a point set determination unit; The surface point determination unit is configured to determine a target surface point according to the ultrasonic echo signal and the array element coordinate information for each of the target transmitting array element and the target receiving array element; The point set determination unit is configured to obtain the target point set based on a plurality of target surface points for each of the target array element group; The surface point determination unit comprises a time determination subunit and a surface point determination subunit; The time determination subunit is configured to determine an envelope signal corresponding to the ultrasonic echo signal, and determine a first time and a second time based on the envelope signal, wherein the first time is an interval time from the target transmitting array element transmitting the ultrasonic wave signal to the target transmitting array element receiving the ultrasonic echo signal, and the second time is an interval time from the target transmitting array element transmitting the ultrasonic wave signal to the target receiving array element receiving the ultrasonic echo signal; The surface point determination subunit is configured to determine a target surface point based on the first time, the second time and the array element coordinate information.

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