An ultrasonic capsule robot imaging method and system

Abstract

This application discloses an ultrasound capsule robot imaging method and system, relating to the field of robotics, and particularly to an ultrasound capsule robot imaging method and system. The method includes establishing an ultrasound device to perform ultrasound scanning on an organ and acquire ultrasound echo information; acquiring the organ's contour information and ultrasound wave propagation time information; establishing an AR 3D model of the organ and adjusting the AR 3D model; determining the position of the ultrasound device within the organ based on the propagation time information; establishing an image acquisition device to acquire images of the organ's interior and obtain internal image information; determining whether there are abnormalities in the organ based on the image information, cropping the abnormal image, and inserting the abnormal image into the AR 3D model based on the position information. This application improves the imaging efficiency of capsule robots during examinations.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to an ultrasonic capsule robot imaging method and system. Background Technology

[0002] Capsule microrobots are intelligent miniature tools capable of entering the human gastrointestinal tract for medical exploration and treatment, representing a new breakthrough in in vivo interventional diagnostic and therapeutic medical technology. After ingesting the capsule robot, it takes pictures within the patient's digestive system, helping doctors understand the patient's health condition while reducing the discomfort associated with endoscopy.

[0003] In existing technologies, capsule robots typically use image capture to examine the patient's gastrointestinal tract when examining the body. This requires large machines to assist the capsule robot in its operation. However, when the capsule robot transmits the captured images back to the outside world, doctors need to determine the location of lesions and assess the overall condition of the patient's organs to provide a basis for subsequent treatment or surgery. In some cases, ultrasound imaging is used to model the patient's organs, but this method is slow, cannot image moving organs, and is only applicable to relatively static soft tissues or bone tissues.

[0004] Therefore, improving the imaging efficiency of capsule robots during the inspection process has become an urgent problem to be solved. Summary of the Invention

[0005] To improve the imaging efficiency of capsule robots during the examination process, this application provides an ultrasonic capsule robot imaging method and system.

[0006] This application provides an ultrasonic capsule robot imaging method and system, which adopts the following technical solution:

[0007] In a first aspect, this application provides an ultrasonic capsule robot imaging method, which adopts the following technical solution:

[0008] An ultrasound device is set up to perform ultrasound scanning on organs and obtain ultrasound echo information.

[0009] The ultrasound echo information is graded to obtain the contour information of the organ and the ultrasound return time information;

[0010] A three-dimensional coordinate system is established. Based on the contour information, an AR three-dimensional model of the organ is established. Based on the return time information, the distance between the organ's contour and the ultrasound device is determined and obtained. The AR three-dimensional model is adjusted according to the distance.

[0011] Based on the return time information, the position information of the ultrasound device in the organ is determined;

[0012] Establish an image acquisition device to acquire images of the inside of organs and obtain internal image information of the organs;

[0013] Based on the image information, it is determined whether there is any abnormality in the organ, and the abnormal image is cropped and inserted into the AR 3D model based on the location information.

[0014] By adopting the above technical solution, the ultrasound capsule robot uses ultrasound to acquire the contour information of the patient's organs and build an AR 3D model. At the same time, it modifies the AR 3D model according to different time periods of the same ultrasound wave reception to ensure that the AR 3D model is consistent with the patient's organs. In addition, based on the image information acquired by the ultrasound capsule robot, it autonomously judges lesions and abnormalities and embeds the judged abnormal images into the AR 3D model. When doctors use the AR 3D model, they can more quickly determine the shape of the patient's organs and the location of lesions, improving the imaging efficiency of the ultrasound capsule robot and the accuracy of doctors' diagnosis.

[0015] Preferably, the step of performing hierarchical processing on the ultrasound echo information to obtain the contour information of the organ and the ultrasound return time information includes:

[0016] The emitted ultrasonic waves are marked at multiple levels. Based on the ultrasonic echo information, the ultrasonic echo information is marked and classified, and ultrasonic echo information belonging to the same mark is grouped into a set.

[0017] The ultrasonic echo information in the set is subjected to hierarchical analysis to obtain the rebound intensity, rebound quantity and rebound waveform of the ultrasonic echo;

[0018] Based on the rebound intensity, the rebound quantity, and the rebound waveform, the contour information of the organ is determined and obtained, including the external contour of the organ, the cavity contour, and the organ thickness.

[0019] Based on the ultrasonic echo information, determine and obtain the reception time period from the start of receiving the ultrasonic echo information to the end;

[0020] The receiving time period is divided into time periods to obtain the divided time periods. The rebound waveform of the ultrasonic echo received in the divided time periods is analyzed to determine whether the rebound waveform has undergone a strong change in the time period. If it has changed, the time period is further divided.

[0021] Based on the defined time period, the return time of the ultrasonic wave is obtained.

[0022] By adopting the above technical solution, each emitted ultrasound wave is marked, and the received ultrasound echo information is classified according to the markings. The contour, cavity, and thickness of the organ are determined based on the rebound intensity, number of rebounds, and rebound waveform of the ultrasound echo. If ultrasound echoes with the same marking are received at the same time but have different reception times, the time required to receive the ultrasound echoes with the same marking is determined and time periods are divided. It is determined whether there are drastic changes in the ultrasound echoes in each time period. If so, they are further divided. At the same time, the return time of the ultrasound waves is obtained based on the divided time periods, which improves the accuracy of ultrasound in organ detection.

[0023] Preferably, before the step of performing hierarchical processing on the ultrasound echo information to obtain the contour information of the organ and the ultrasound return time information, the method further includes:

[0024] The ultrasonic echo information is preliminarily processed to determine the echo type of the ultrasonic echo information;

[0025] Based on the echo type, determine the type of substance detected by the ultrasound.

[0026] Determine whether the substance belongs to the organ being tested; if not, discard the ultrasound echo information.

[0027] By adopting the above technical solution, the type of ultrasound echo information is determined, and the type of substance detected by ultrasound during the detection process is determined based on the type of ultrasound echo. If the detected substance belongs to an organ, it is retained; if it does not belong to an organ, it is removed, thereby improving the accuracy of the ultrasound detection process.

[0028] Preferably, the steps of establishing a three-dimensional coordinate system, establishing an AR three-dimensional model of the organ based on the contour information, determining and obtaining the distance between the organ's contour and the ultrasound device based on the return time information, and adjusting the AR three-dimensional model according to the distance include:

[0029] Establish a three-dimensional coordinate system;

[0030] Based on the contour information, the key points of the organ are identified and obtained, and the relative positional relationship between each key point is determined.

[0031] Based on the contour information and the relative positional relationship, an AR three-dimensional model of the organ is established in the three-dimensional coordinate system;

[0032] Based on the transmission time information, the divided time periods are obtained, and the average time point of receiving ultrasound in each divided time period is analyzed.

[0033] Based on the average time period, the distance between each point of the organ's contour and the ultrasound device is calculated.

[0034] Based on the distance, the shape and size of the AR 3D model are adjusted.

[0035] By adopting the above technical solution, key points on the organ are determined based on the acquired contour information, and the relative positional relationship between each key point is determined. Then, an AR three-dimensional model is established based on the contour information. At the same time, the model is divided into time periods based on the transmission time information, and the average time of ultrasound in each time period is determined. Based on this, the distance information between the part of the organ corresponding to the ultrasound segment and the ultrasound capsule robot is determined. The AR three-dimensional model is then fine-tuned based on this distance, which improves the matching degree between the AR three-dimensional model and the patient's internal organs.

[0036] Preferably, after the steps of establishing a three-dimensional coordinate system, establishing an AR three-dimensional model of the organ based on the contour information, determining and obtaining the distance between the organ's contour and the ultrasound device based on the return time information, and adjusting the AR three-dimensional model according to the distance, the method further includes:

[0037] Obtain multiple sets of contour information, compare them, and calculate the maximum difference between the multiple sets of contour information with the largest difference.

[0038] The maximum difference is compared with a preset difference threshold to determine whether the maximum difference is greater than the threshold.

[0039] If it is greater than the average time point of the divided time period, the compensation time difference between the average time point and the base time point of the subsequent divided time periods is obtained, based on the average time point of the first average time point as the base time point.

[0040] A compensation mechanism is established to compensate for the ultrasonic echo information in the subsequent time periods based on the compensation time difference. The larger the compensation time difference, the greater the compensation.

[0041] By adopting the above technical solution, based on the contour information of multiple organs at different times, it is determined whether the organs have a strong activity trend. If so, the first average time point in the divided time period is taken as the reference time point, and the time difference between the average time point of the subsequent divided time period and the reference time point is determined. Based on this time difference, a compensation mechanism is established to compensate for the subsequent ultrasound echo information, thereby improving the accuracy of AR three-dimensional model establishment.

[0042] Preferably, after the step of establishing a compensation mechanism, which compensates for the ultrasonic echo information in the subsequent divided time periods based on the compensation time difference, and where the larger the compensation time difference, the greater the compensation, the method further includes:

[0043] The ultrasound device performs high-frequency ultrasound detection and, based on the ultrasound echo information with different markers, determines and obtains the marking status of the organ corresponding to the ultrasound echo information under each marker.

[0044] Arrange the marked states in chronological order and determine the state difference between each pair of marked states;

[0045] Based on the state differences, each state difference is sequentially arranged and combined to obtain organ state changes, determine the activity of the organ, and map the organ state changes onto the AR three-dimensional model.

[0046] By adopting the above technical solution, high-frequency ultrasound detection is used to obtain the state of the organ recorded by the ultrasound echo information after each ultrasound rebound. The results are compared one by one in chronological order to determine the changes in the state of the organ, obtain the activity of the organ, and map the activity of the organ onto the AR 3D model. This allows the AR 3D model to display the activity of the organ in real time, improving the comprehensiveness of the AR 3D model in displaying the organ.

[0047] Preferably, the step of determining whether an organ has an abnormality based on the image information, cropping the abnormal image, and inserting the abnormal image into the AR 3D model based on the location information includes:

[0048] Based on the image information, obtain color information and object information inside the organ;

[0049] Based on the color and object information, determine whether there are any abnormalities inside the organ;

[0050] If an anomaly is found, the image information is captured to obtain the abnormal image. Based on the location information, the location of the anomaly is determined and the anomaly point is marked on the AR 3D model.

[0051] The abnormal image is stored at the abnormal point of the AR 3D model.

[0052] By adopting the above technical solution, the color and objects in the image are judged based on the acquired image information to determine whether there is any abnormality in the organ. If an abnormality is found, the image information is captured, the abnormal image is obtained, and the abnormal image is embedded into the AR 3D model. At the same time, the abnormal point is marked at the location, which makes it easier for doctors to view during subsequent examinations, thus improving the efficiency of organ detection and imaging.

[0053] Secondly, this application provides an ultrasonic capsule robot imaging system, which adopts the following technical solution:

[0054] Ultrasonic module: used to emit ultrasonic waves and collect ultrasonic echo information;

[0055] Ultrasonic echo analysis module: configured to connect to the ultrasound module for data analysis of the collected ultrasonic echo information;

[0056] Image acquisition module: used to acquire image information of the patient's internal organs;

[0057] Image analysis module: configured to connect to the image acquisition module for data analysis of the acquired image information;

[0058] AR 3D Model Module: Configured to connect with the ultrasound echo analysis module and the image analysis module for building an AR 3D model and inserting image information into the AR 3D model based on the analysis data.

[0059] Preferably, the ultrasonic echo analysis module includes a contour analysis unit and a time analysis unit;

[0060] The contour analysis unit is used to determine and obtain the contour of the organ based on the ultrasound echo information;

[0061] The time analysis unit is used to process the ultrasonic echo information according to the different times when the ultrasonic echo information is received, so as to make the ultrasonic echo information complete.

[0062] Preferably, the AR 3D model module includes an AR 3D model creation unit, an AR 3D model real-time motion unit, and an image insertion unit;

[0063] The AR 3D model building unit is used to build an AR 3D model of the organ based on the ultrasound echo information;

[0064] The real-time motion unit of the AR 3D model is used to add motion states to the AR 3D model according to different ultrasonic echo information;

[0065] The image insertion unit is used to insert the acquired abnormal image into the corresponding position in the AR 3D model.

[0066] In summary, this application includes at least one of the following beneficial technical effects:

[0067] 1. The ultrasound capsule robot uses ultrasound to acquire the contour information of the patient's organs and build an AR 3D model. It also modifies the AR 3D model based on different time periods of the same ultrasound wave reception to ensure consistency between the AR 3D model and the patient's organs. Furthermore, based on the image information acquired by the ultrasound capsule robot, it autonomously identifies lesions and abnormalities and embeds the identified abnormalities into the AR 3D model. When doctors access the AR 3D model, they can more quickly determine the shape of the patient's organs and the location of lesions, improving the imaging efficiency of the ultrasound capsule robot and the accuracy of the doctor's diagnosis.

[0068] 2. Each emitted ultrasound wave is marked, and the received ultrasound echoes are classified according to the marks. The contour, cavity, and thickness of the organ are determined based on the rebound intensity, number of rebounds, and rebound waveform of the ultrasound echoes. If ultrasound echoes with the same mark are received at the same time but have different reception times, the time required to receive the ultrasound echoes with the same mark is determined and divided into time periods. It is determined whether there are drastic changes in the ultrasound echoes in each time period. If so, they are further divided. At the same time, the return time of the ultrasound waves is obtained based on the divided time periods, which improves the accuracy of ultrasound in organ detection.

[0069] 3. Based on the acquired image information, the color and objects in the image are judged to determine whether there are any abnormalities in the organs. If an abnormality is found, the image information is captured, the abnormal image is obtained, and the abnormal image is embedded into the AR 3D model. At the same time, the abnormal point is marked at the location, which makes it easier for doctors to view during subsequent examinations, thus improving the efficiency of organ detection and imaging. Attached Figure Description

[0070] Figure 1 This embodiment describes an ultrasonic capsule robot imaging method and system;

[0071] Figure 2 This is a flowchart of the sub-steps of step S200 in the ultrasonic capsule robot imaging method of this embodiment;

[0072] Figure 3 This is a flowchart of the sub-steps after step S200 and step S300 of the ultrasonic capsule robot imaging method in this embodiment.

[0073] Figure 4 This is a flowchart illustrating the sub-steps after step S300 and step S314 of the ultrasonic capsule robot imaging method in this embodiment.

[0074] Figure 5 This is a flowchart illustrating a sub-step of step S500 in an ultrasonic capsule robot imaging method according to this embodiment.

[0075] Figure 6This is a block diagram of an ultrasonic capsule robot imaging system according to this embodiment.

[0076] Explanation of reference numerals in the attached diagram: 1. Ultrasound module; 2. Ultrasound echo analysis module; 3. Image acquisition module; 4. Image analysis module; 5. AR 3D model module. Detailed Implementation

[0077] The following is in conjunction with the appendix Figure 1-6 This application will be described in further detail.

[0078] This application discloses an ultrasonic capsule robot imaging method and system.

[0079] In this embodiment, refer to Figure 1 An ultrasound capsule robot imaging method includes the following steps:

[0080] S100: Establish an ultrasound device to perform ultrasound scanning on organs and obtain ultrasound echo information.

[0081] S200: Performs graded processing on ultrasound echo information to obtain organ contour information and ultrasound return time information;

[0082] S300: Establish a three-dimensional coordinate system, build an AR three-dimensional model of the organ based on the contour information, determine and obtain the distance between the organ's contour and the ultrasound device based on the return time information, and adjust the AR three-dimensional model according to the distance.

[0083] S400: Based on the return time information, determine the position of the ultrasound device in the organ;

[0084] S500: Establish an image acquisition device to acquire images of the inside of organs and obtain internal image information of organs;

[0085] S600: Based on image information, determine whether there are abnormalities in organs, extract abnormal images, and insert abnormal images into AR 3D models based on location information.

[0086] It should be noted that the above steps are only the preferred implementation order. In the actual implementation process, some steps can be changed without affecting the overall implementation effect.

[0087] Reference Figure 2 Step S200, which involves grading the ultrasound echo information to obtain the organ's contour information and the ultrasound return time information, includes:

[0088] S201: The emitted ultrasonic waves are marked at multiple levels. Based on the ultrasonic echo information, the ultrasonic echo information is marked and classified, and ultrasonic echo information belonging to the same mark is grouped into a set.

[0089] S202: Perform hierarchical analysis on the ultrasonic echo information in the set to obtain the rebound intensity, rebound quantity and rebound waveform of the ultrasonic echo;

[0090] S203: Based on the rebound intensity, rebound quantity and rebound waveform, determine and obtain the contour information of the organ, including the external contour of the organ, the cavity contour and the organ thickness.

[0091] S204: Based on ultrasonic echo information, determine and obtain the reception time period from the start of receiving ultrasonic echo information to the end;

[0092] S205: Divide the received time period into time periods, obtain the divided time periods, analyze the rebound waveform of the received ultrasonic echo in the divided time period, determine whether the rebound waveform has changed significantly in the time period, and if it has changed, further divide the time period.

[0093] S206: Obtain the return time of the ultrasound waves based on the segmented time period.

[0094] In application, each ultrasound wave emitted by the ultrasound capsule robot in the human body is marked and classified for analysis. For example, after a patient swallows the ultrasound capsule robot, it arrives at the patient's stomach and emits three ultrasound waves. These three ultrasound waves are marked differently to ensure that the received signals belong to the same ultrasound wave. At the same time, the ultrasound echo information is analyzed to determine the rebound intensity, number of rebounds, and rebound waveform, thereby determining the shape and thickness of the patient's stomach organs. The time from the beginning of receiving a certain marked ultrasound echo information to the end is calculated as the ultrasound wave return time.

[0095] Reference Figure 3 Before step S200, before the step of grading the ultrasound echo information and obtaining the organ contour information and ultrasound return time information, the following steps are also included:

[0096] S211: Perform preliminary processing on the ultrasonic echo information to determine the echo type of the ultrasonic echo information;

[0097] S212: Determine the type of substance detected by ultrasound based on the echo type;

[0098] S213: Determine whether the substance belongs to the organ being tested. If not, discard the ultrasound echo information.

[0099] In application, the type of the substance being detected is determined based on the type of ultrasound echo information, thereby determining whether the substance is part of an organ. For example, when an ultrasound capsule robot is placed in a patient's stomach, during the detection process, it is found that there are two types of ultrasound echo information received. After analysis, it is found that one type is ultrasound waves that bounce back from detecting stomach organs, and the other type is ultrasound waves that bounce back from detecting food in the stomach. In this case, the second type of ultrasound echo information is discarded, and the first type of ultrasound echo information is retained.

[0100] Reference Figure 3 In step S300, the steps of establishing a three-dimensional coordinate system, building an AR three-dimensional model of the organ based on contour information, determining and obtaining the distance between the organ's contour and the ultrasound device based on the return time information, and adjusting the AR three-dimensional model according to the distance include:

[0101] S301: Establish a three-dimensional coordinate system;

[0102] S302: Based on contour information, identify and obtain key points of the organ, and determine the relative positional relationship between each key point;

[0103] S303: Based on contour information and relative positional relationships, establish an AR 3D model of an organ in a 3D coordinate system;

[0104] S304: Based on the return time information, obtain the divided time periods and analyze the average time point of receiving ultrasound in each divided time period;

[0105] S305: Calculate the distance between each point on the organ's outline and the ultrasound device based on the average time period.

[0106] S306: Adjust the shape and size of AR 3D models based on distance.

[0107] In application, an AR 3D model of the organ is established based on the acquired organ contour and the distance from each part of the organ to the ultrasound capsule robot. For example, if the ultrasound capsule robot is located in the patient's stomach, an AR 3D model of the stomach is established in a 3D coordinate system based on the acquired contour information of the stomach. The distance from the ultrasound capsule robot to each point on the stomach organ is determined based on the average time point of the ultrasound in the divided time period, and the shape and size of the AR 3D model are adjusted accordingly.

[0108] Reference Figure 4 After step S300, following the steps of establishing a three-dimensional coordinate system, building an AR three-dimensional model of the organ based on the contour information, determining and obtaining the distance between the organ's contour and the ultrasound device based on the return time information, and adjusting the AR three-dimensional model according to the distance, the system further includes:

[0109] S311: Obtain multiple sets of contour information, compare them, and calculate the maximum difference between the multiple sets of contour information.

[0110] S312: Compare the maximum difference with a preset difference threshold to determine whether the maximum difference is greater than the threshold;

[0111] S313: If it is greater than the average time point of the divided time period, take the first average time point as the base time point and obtain the compensation time difference between the average time point of the subsequent divided time periods and the base time point.

[0112] S314: Establish a compensation mechanism to compensate for the ultrasound echo information in subsequent time periods based on the compensation time difference. The greater the compensation time difference, the greater the compensation.

[0113] In application, by comparing multiple sets of contour information, it is determined whether there is significant movement in the organ, and the ultrasound echo information is compensated according to the time difference. For example, when the ultrasound capsule robot is placed in the patient's stomach, the comparison of multiple sets of contour information reveals that the patient's stomach has peristaltic movements. Since it takes time to collect all the ultrasound echo information of the same marker, the ultrasound echo information collected at different times may not accurately express the current state of the stomach. Therefore, a compensation mechanism is established to compensate for the subsequently collected ultrasound echo information so that it can accurately express the current state of the stomach organ.

[0114] Reference Figure 4 In step S314, a compensation mechanism is established to compensate for the ultrasound echo information in subsequent time periods based on the compensation time difference. The larger the compensation time difference, the greater the compensation. Following this step, the following is also included:

[0115] S3141: The ultrasound device performs high-frequency ultrasound detection and, based on ultrasound echo information with different markers, determines and obtains the marking status of the organ corresponding to the ultrasound echo information under each marker.

[0116] S3142: Arrange the marked states in chronological order and determine the state difference between each pair of marked states;

[0117] S3143: Based on state differences, each state difference is sequentially arranged and combined to obtain organ state changes, determine organ activity, and map organ state changes onto an AR 3D model.

[0118] In practice, ultrasound echo information with different labels is compared pairwise in chronological order to determine the activity of organs. For example, when an ultrasound capsule robot examines a patient's stomach, it emits five ultrasound waves with different labels and simultaneously receives five ultrasound echo information with different labels. The echo information is then compared pairwise in chronological order to determine the movement of the stomach organs during the time period detected by the five ultrasound waves. The stomach's movement is then mapped onto an AR 3D model, enabling the AR 3D model to perform the same movements as the patient's stomach.

[0119] Reference Figure 5 In step S600, the steps of determining whether an organ has abnormalities based on image information, cropping the abnormal image, and inserting the abnormal image into the AR 3D model based on location information include:

[0120] S601: Based on image information, acquire color and object information inside organs;

[0121] S602: Determine whether there are abnormalities inside an organ based on color information and object information;

[0122] S603: If an anomaly exists, the image information is captured to obtain the abnormal image. Based on the location information, the location of the anomaly is determined and the anomaly point is marked on the AR 3D model.

[0123] S604: Store the abnormal image at the abnormal point in the AR 3D model.

[0124] In practice, the ultrasound capsule robot acquires images of the inside of organs and determines whether there are any abnormalities in the images. It then places images of abnormalities at the corresponding locations in the AR 3D model of the organ. For example, when the ultrasound capsule robot performs an examination in a patient's stomach, it acquires images of the stomach and automatically identifies color and object information in the images to determine whether there are lesions in the patient's stomach. If so, it captures the image information of the lesion, determines the location of the lesion in the stomach, and embeds the image into the AR 3D model of the stomach. This allows doctors to retrieve the image information of the lesion for diagnosis when using the AR 3D model.

[0125] Reference Figure 6 An ultrasonic capsule robot imaging system, comprising:

[0126] Ultrasonic Module 1: Used to emit ultrasonic waves and collect ultrasonic echo information;

[0127] Ultrasonic echo analysis module 2: configured to connect to the ultrasound module 1 for data analysis of the collected ultrasound echo information;

[0128] Image acquisition module 3: Used to acquire image information of the patient's internal organs;

[0129] Image analysis module 4: Configured to connect to image acquisition module 3 for data analysis of acquired image information;

[0130] AR 3D model module 5: configured to connect with the ultrasound echo analysis module 2 and the image analysis module 4 for establishing an AR 3D model and inserting image information into the AR 3D model based on the analysis data.

[0131] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. An ultrasonic capsule robot imaging method, characterized in that, Includes the following steps: An ultrasound device was set up to perform ultrasound scanning on organs and obtain ultrasound echo information. The ultrasound echo information is graded to obtain the contour information of the organ and the ultrasound return time information, including: The emitted ultrasound waves are marked at multiple levels, and based on the ultrasound echo information, the ultrasound echoes are... The sound information is labeled and classified, and ultrasound echo information belonging to the same label is grouped into one set; The ultrasonic echo information in the set is subjected to hierarchical analysis to obtain the rebound intensity of the ultrasonic echo. Rebound quantity and rebound waveform; Based on the rebound intensity, the rebound quantity, and the rebound waveform, the organ's... Contour information, which includes the organ's external contour, cavity contour, and organ thickness; Based on the ultrasonic echo information, determine and obtain the time from the start of receiving the ultrasonic echo information to the end. The time period for receiving the beam; The received time period is divided into time periods to obtain the divided time periods. The rebound waveform of the ultrasonic echo received in the segment is analyzed to determine whether the rebound waveform is Whether there are significant changes during this time period; if there are changes, then the time period should be further divided. Based on the defined time period, the return time of the ultrasonic wave is obtained; Establish a three-dimensional coordinate system, and based on the contour information, build an AR three-dimensional model of the organ. The system retrieves the transmission time information, determines and obtains the distance between the organ's outline and the ultrasound device, and adjusts the AR 3D model based on the distance, including: Establish a three-dimensional coordinate system; Based on the contour information, key points of the organ are identified and obtained, and the relationships between each key point are determined. The relative positional relationship; Based on the contour information and the relative positional relationship, an AR three-dimensional model of the organ is established in the three-dimensional coordinate system; Based on the transmission time information, the divided time periods are obtained, and the average time point of receiving ultrasound in each divided time period is analyzed. Based on the average time point, the distance between each point of the organ's contour and the ultrasound device is calculated. Based on the distance, the shape and size of the AR 3D model are adjusted; Based on the return time information, the location information of the ultrasound device in the organ is determined; Establish an image acquisition device to acquire images of the inside of organs. information; Based on the image information, it is determined whether there is any abnormality in the organ, and the abnormal image is cropped and inserted into the AR 3D model based on the location information.

2. The ultrasonic capsule robot imaging method according to claim 1, characterized in that, Before the step of performing hierarchical processing on the ultrasound echo information to obtain the contour information of the organ and the ultrasound return time information, the method further includes: The ultrasonic echo information is preliminarily processed to determine the echo type of the ultrasonic echo information; Based on the echo type, determine the type of substance detected by the ultrasound. Determine whether the substance belongs to the organ being tested; if not, discard the ultrasound echo information.

3. The ultrasonic capsule robot imaging method according to claim 1, characterized in that, After the steps of establishing a three-dimensional coordinate system, establishing an AR three-dimensional model of the organ based on the contour information, determining and obtaining the distance between the organ's contour and the ultrasound device based on the return time information, and adjusting the AR three-dimensional model according to the distance, the method further includes: Obtain multiple sets of contour information, compare them, and calculate the maximum difference between the multiple sets of contour information with the largest difference. The maximum difference is compared with a preset difference threshold to determine whether the maximum difference is greater than the threshold. If it is greater than the average time point of the divided time period, the compensation time difference between the average time point and the base time point of the subsequent divided time periods is obtained, based on the average time point of the first average time point as the base time point. A compensation mechanism is established to compensate for the ultrasonic echo information in the subsequent time periods based on the compensation time difference. The larger the compensation time difference, the greater the compensation.

4. The ultrasonic capsule robot imaging method according to claim 3, characterized in that, The step of establishing a compensation mechanism, based on the compensation time difference, to compensate for the ultrasound echo information in the subsequent divided time periods, wherein the larger the compensation time difference, the greater the compensation, further includes: The ultrasound device performs high-frequency ultrasound detection and, based on the ultrasound echo information with different markers, determines and obtains the marking status of the organ corresponding to the ultrasound echo information under each marker. Arrange the marked states in chronological order and determine the state difference between each pair of marked states; Based on the state differences, each state difference is sequentially arranged and combined to obtain organ state changes, determine the activity of the organ, and map the organ state changes onto the AR three-dimensional model.

5. The ultrasonic capsule robot imaging method according to claim 1, characterized in that, The step of determining whether an organ has an abnormality based on the image information, cropping the abnormal image, and inserting the abnormal image into the AR 3D model based on the location information includes: Based on the image information, obtain color information and object information inside the organ; Based on the color and object information, determine whether there are any abnormalities inside the organ; If an anomaly is found, the image information is captured to obtain the abnormal image. Based on the location information, the location of the anomaly is determined and the anomaly point is marked on the AR 3D model. The abnormal image is stored at the abnormal point of the AR 3D model.

6. An ultrasonic capsule robot imaging system, applied to a capsule robot imaging method as described in any one of claims 1-5, characterized in that, include: Ultrasonic module (1): used to emit ultrasonic waves and collect ultrasonic echo information; Ultrasonic echo analysis module (2): configured to connect to the ultrasonic module (1) for data analysis of the collected ultrasonic echo information; Image acquisition module (3): used to acquire image information of the patient's internal organs; Image analysis module (4): configured to connect to the image acquisition module (3) for data analysis of the acquired image information; AR 3D model module (5): configured to connect with the ultrasound echo analysis module (2) and the image analysis module (4) to establish an AR 3D model and insert image information into the AR 3D model according to the analysis data.

7. The ultrasonic capsule robot imaging system according to claim 6, characterized in that: The ultrasonic echo analysis module (2) includes a contour analysis unit and a time analysis unit; The contour analysis unit is used to determine and obtain the contour of the organ based on the ultrasound echo information; The time analysis unit is used to process the ultrasonic echo information according to the different times when the ultrasonic echo information is received, so as to make the ultrasonic echo information complete.

8. The ultrasonic capsule robot imaging system according to claim 7, characterized in that: The AR 3D model module (5) includes an AR 3D model building unit, an AR 3D model real-time motion unit, and an image insertion unit; The AR 3D model building unit is used to build an AR 3D model of the organ based on the ultrasound echo information; The AR 3D model real-time motion unit is used to adjust the motion of the model based on different ultrasonic echo information. Add motion status to AR 3D models; The image insertion unit is used to insert the acquired abnormal image into the corresponding AR 3D model. The location.

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