An automatic ultrasound robot gallbladder scanning method, device, equipment and storage medium

Abstract

Embodiments of the present application relate to an automatic ultrasound robot gallbladder scanning method, device, equipment and storage medium. The method comprises: acquiring a gallbladder contour in an ultrasound image; if the area of the gallbladder contour exceeds an area threshold in a plurality of consecutive ultrasound images, adjusting the pose of the ultrasound probe so that the gallbladder contour is located at the center position of the ultrasound image; by controlling the ultrasound probe to translate along the X-axis and / or rotate around the Y-axis in the robot tool coordinate system, a first-level search is performed to determine the ultrasound probe position that meets the first preset gallbladder area; at the ultrasound probe position of the first preset gallbladder area, by controlling the ultrasound probe to rotate around the Z-axis and / or translate along the X-axis, a second-level search is performed to determine the gallbladder section that meets the second preset gallbladder area; wherein the gallbladder section of the second preset gallbladder area is searched according to the change of the gallbladder area during the movement of the ultrasound probe. The technical scheme of the embodiments of the present application improves the gallbladder scanning efficiency when scanning the gallbladder in the liver scanning process.

Description

Technical Field

[0001] This invention relates to the field of robotic ultrasound scanning technology, and in particular to an automated ultrasonic robot gallbladder scanning method, apparatus, device, and storage medium. Background Technology

[0002] Ultrasound imaging is a hospital imaging technique used to image organs and soft tissues in the human body. Current technologies utilize ultrasound robots for human ultrasound scanning, such as... Figure 4 As shown, an ultrasonic probe can be installed at the end of a multi-degree-of-freedom robot to perform ultrasonic scanning of the human body.

[0003] When an ultrasound robot scans the human liver, the gallbladder is located near the liver, so it is scanned at the same time. However, due to the shape of the gallbladder, the general method of scanning the liver cannot completely scan the outline of the gallbladder. Therefore, if the gallbladder is detected during the liver scan, an appropriate scanning strategy is needed to perform a cross-sectional scan of the gallbladder. Summary of the Invention

[0004] This invention provides an automated ultrasound robot gallbladder scanning method, apparatus, device, and storage medium, with the aim of improving gallbladder scanning efficiency during liver scanning.

[0005] In a first aspect, embodiments of the present invention provide an automated ultrasound robot gallbladder scanning method, comprising:

[0006] The ultrasound robot is controlled to perform ultrasound scanning on the gallbladder area to obtain the gallbladder outline in the ultrasound image.

[0007] If the area of ​​the gallbladder contour exceeds an area threshold in multiple consecutive ultrasound images, the position of the ultrasound probe is adjusted so that the gallbladder contour is located at the center of the ultrasound image.

[0008] By controlling the ultrasound probe to translate along the X-axis and / or rotate around the Y-axis in the robot tool coordinate system, a first-level search is performed to determine the position of the ultrasound probe that matches the first preset gallbladder area.

[0009] At the position of the ultrasound probe with a first preset gallbladder area, a two-stage search is performed by controlling the ultrasound probe to rotate around the Z-axis and / or translate along the X-axis to determine a gallbladder section that conforms to a second preset gallbladder area; wherein, the gallbladder section with the second preset gallbladder area is searched based on the changes in gallbladder area during the movement of the ultrasound probe.

[0010] Secondly, embodiments of the present invention provide an automated ultrasound robot gallbladder scanning device, comprising:

[0011] The gallbladder contour acquisition module is used to control the ultrasound robot to perform ultrasound scanning on the gallbladder area and acquire the gallbladder contour in the ultrasound image.

[0012] A gallbladder contour position adjustment module is used to adjust the position of the ultrasound probe so that the gallbladder contour is located at the center of the ultrasound image if the area of ​​the gallbladder contour exceeds an area threshold in multiple consecutive ultrasound images.

[0013] The gallbladder primary search module is used to perform a primary search by controlling the ultrasound probe to translate along the X-axis and / or rotate around the Y-axis in the robot tool coordinate system to determine the position of the ultrasound probe that matches the first preset gallbladder area.

[0014] The gallbladder secondary search module is used to perform a secondary search at the position of the ultrasound probe with a first preset gallbladder area by controlling the ultrasound probe to rotate around the Z-axis and / or translate along the X-axis to determine the gallbladder cross-section that conforms to the second preset gallbladder area; wherein, the gallbladder cross-section of the second preset gallbladder area is searched based on the change of gallbladder area during the movement of the ultrasound probe.

[0015] Thirdly, embodiments of the present invention provide an electronic device, comprising:

[0016] One or more processors;

[0017] Memory, used to store one or more programs;

[0018] When the one or more programs are executed by the one or more processors, the one or more processors implement the automated ultrasonic robot gallbladder scanning method provided in any embodiment of the present invention.

[0019] Fourthly, embodiments of the present invention provide a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform an automated ultrasound robot gallbladder scanning method as provided in any embodiment of the present invention.

[0020] This invention provides an automated ultrasound robot gallbladder scanning method, apparatus, device, and storage medium. By acquiring the gallbladder contour in an ultrasound image and performing gallbladder cross-section scanning, and by utilizing changes in the gallbladder area to control the ultrasound probe to search for the gallbladder cross-section, it solves the problem that liver scanning techniques are unsuitable for gallbladder scanning and thus affect scanning efficiency. It achieves the effect of shortening the gallbladder cross-section search time and improving gallbladder scanning efficiency during gallbladder scanning in the process of liver scanning. Attached Figure Description

[0021] Figure 1 This is a flowchart of an automated ultrasonic robot gallbladder scanning method provided in Embodiment 1 of the present invention;

[0022] Figure 2 This is a schematic diagram of the structure of an automated ultrasonic robot gallbladder scanning device provided in Embodiment 2 of the present invention;

[0023] Figure 3 This is a schematic diagram of the structure of an electronic device provided in Embodiment 3 of the present invention;

[0024] Figure 4 This is a schematic diagram of the autonomous ultrasonic robot in an embodiment of the present invention;

[0025] Figure 5 This is a schematic diagram showing the gallbladder outline positioned at the center of the ultrasound image in an embodiment of the present invention.

[0026] Figure 6 This is a cross-sectional scan image of the gallbladder in an embodiment of the present invention;

[0027] Figure 7 This is a flowchart of a gallbladder scan in an embodiment of the present invention. Detailed Implementation

[0028] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0029] Example 1

[0030] Figure 1 This is a flowchart of an automated ultrasound robot gallbladder scanning method provided in Embodiment 1 of the present invention. This embodiment is applicable to situations where an autonomous ultrasound robot performs ultrasound scanning on the human body, primarily gallbladder scanning during liver scanning. The method can be executed by an automated ultrasound robot gallbladder scanning device, which can be implemented in hardware and / or software and is generally integrated into an electronic device, such as an industrial control computer configured in the autonomous ultrasound robot. The method specifically includes:

[0031] Step 110: Control the ultrasound robot to perform ultrasound scanning on the gallbladder area and obtain the gallbladder outline in the ultrasound image.

[0032] The ultrasound robot can scan the liver region of the human body through manual control or autonomous visual control of the ultrasound probe. The gallbladder is located within the liver region; when the gallbladder outline appears in the obtained ultrasound image, the ultrasound robot enters a gallbladder scanning strategy. The gallbladder outline in the ultrasound image can be determined by fitting the pixels in the ultrasound image.

[0033] Step 120: If the area of ​​the gallbladder contour exceeds the area threshold in multiple consecutive ultrasound images, adjust the position of the ultrasound probe so that the gallbladder contour is located at the center of the ultrasound image.

[0034] Because human respiration causes instability and misidentification of the gallbladder contour image, to ensure a stable gallbladder cross-section, the area of ​​multiple consecutive gallbladder contours in the ultrasound image exceeds an area threshold, indicating that the ultrasound probe is already in the gallbladder position. Therefore, the gallbladder is further pulled to the center of the ultrasound image. Figure 5 As shown, the ultrasound probe is moved so that the gallbladder is located in the center of the ultrasound image.

[0035] Step 130: By controlling the ultrasound probe to translate along the X-axis and / or rotate around the Y-axis in the robot tool coordinate system, a first-level search is performed to determine the position of the ultrasound probe that matches the first preset gallbladder area.

[0036] Before searching for the precise location of the gallbladder section, it is necessary to ensure that the ultrasound probe is in close contact with the human skin. Then, the ultrasound probe is moved, using translation along the X-axis and rotation around the Y-axis to search for the maximum area of ​​the gallbladder within a certain range. A more precise secondary search is then performed at the maximum area. The robot tool coordinate system settings at the ultrasound probe are as follows: Figure 4 As shown in the image.

[0037] Step 140: At the position of the ultrasound probe with the first preset gallbladder area, a secondary search is performed by controlling the ultrasound probe to rotate around the Z-axis and / or translate along the X-axis to determine the gallbladder cross-section that conforms to the second preset gallbladder area.

[0038] The process involves searching for a gallbladder cross-section with a second preset gallbladder area based on changes in gallbladder area during the movement of the ultrasound probe. The secondary search is for an accurate gallbladder cross-section. The ultrasound probe is controlled to rotate around the Z-axis, and a queue of gallbladder area values ​​is added during rotation to determine trends. When the gallbladder area gradually decreases, rotation around the Z-axis is stopped, and the probe is then translated along the X-axis to adjust the gallbladder cross-section. Rotation around the Z-axis continues to obtain the maximum cross-section for gallbladder scanning. Throughout the process, it is necessary to ensure that the gallbladder contour is centered in the image and that the probe is in close contact with the skin. For example, the obtained gallbladder cross-section is shown below. Figure 6 As shown.

[0039] The technical solution of this embodiment obtains the gallbladder contour in the ultrasound image to perform gallbladder section scanning, and uses the change in gallbladder area to control the ultrasound probe to search for the gallbladder section. This solves the problem that the liver scanning method is not suitable for gallbladder scanning and thus affects the scanning efficiency. It achieves the effect of shortening the gallbladder section search time and improving the gallbladder scanning efficiency during the gallbladder scanning process.

[0040] The automated ultrasound robot gallbladder scanning method can be as follows: Figure 7 The flowchart shown is followed.

[0041] Optionally, the gallbladder contour in the ultrasound image is acquired, including:

[0042] The coordinates of multiple two-dimensional image points in the ultrasound image are obtained, and the coordinates of the multiple two-dimensional image points are fitted based on the least squares method to obtain the fitted gallbladder contour.

[0043] The process involves obtaining the coordinates of several (e.g., ≥6) two-dimensional image point sets from the ultrasound image, and then using OpenCV to apply the least squares method to fit these two-dimensional image point sets to obtain the fitted gallbladder contour.

[0044] Optionally, adjusting the position of the ultrasound probe so that the gallbladder contour is located at the center of the ultrasound image includes:

[0045] Based on the coordinates of the gallbladder center point in the current ultrasound image and the coordinates of the image center point in the current ultrasound image, determine the image distance between the current gallbladder center point and the image center point;

[0046] The actual distance between the current center point of the gallbladder and the center point of the image is obtained by the ratio of the actual distance to the image distance. This distance is then used as the distance that the ultrasound robot moves the ultrasound probe in Cartesian space.

[0047] The operation of pulling the gallbladder to the center of the ultrasound image involves obtaining the center point of the gallbladder contour through image fitting. The image distance between the center point and the target point (targetCenter) is then converted into the actual distance the robot moves in Cartesian space. The target point is the center point of the ultrasound image. The specific formula is as follows:

[0048] imageDis=|targetCenter-center| (1)

[0049] realDis=imageDis×(x / validW) (2)

[0050] Where imageDis is the image distance, realDis is the actual distance, x is the real distance corresponding to the entire ultrasound image interface, and validW is the pixel width of the ultrasound image.

[0051] Optionally, by controlling the ultrasound probe to translate along the X-axis and / or rotate around the Y-axis in the robot tool coordinate system, a first-level search is performed to determine the ultrasound probe position that matches the first preset gallbladder area, including:

[0052] Keep the ultrasound probe in contact with the skin of the object being scanned, and control the ultrasound probe to translate along the X-axis and / or rotate around the Y-axis to perform a first-level search within a set area;

[0053] When the gallbladder area reaches its maximum value in the ultrasound image queue, record the ultrasound probe position at the location of the maximum gallbladder area.

[0054] Optionally, at the ultrasound probe position within the first preset gallbladder area, a secondary search is performed by controlling the ultrasound probe to rotate around the Z-axis and / or translate along the X-axis to determine a gallbladder cross-section conforming to the second preset gallbladder area, including:

[0055] Keep the ultrasound probe in contact with the skin of the object being scanned and the gallbladder outline is located at the center of the ultrasound image, and control the ultrasound probe to rotate around the Z-axis at the ultrasound probe position of the first preset gallbladder area.

[0056] During the rotation, the gallbladder area is added to the data queue. When the gallbladder area gradually decreases, the rotation around the Z-axis is stopped. Then, the ultrasound probe is controlled to translate along the X-axis to adjust the gallbladder section. Then, the rotation around the Z-axis continues to obtain the gallbladder section with the largest area for gallbladder scanning.

[0057] Optionally, gallbladder area can be added to the data queue, including:

[0058] Using the current gallbladder area as the target, the gallbladder area obtained from the scan is placed in the data queue;

[0059] If the number of gallbladder area values ​​is less than the preset queue length, the gallbladder area obtained from the scan will be continuously added to the data queue; if the number of gallbladder area values ​​is equal to the preset queue length, new gallbladder area values ​​will be continuously inserted at the tail of the queue and deleted at the head of the queue until the scan is completed.

[0060] Optionally, as the gallbladder area gradually decreases, rotation around the Z-axis is stopped, and the ultrasound probe is then controlled to translate along the X-axis to adjust the gallbladder section. Rotation around the Z-axis continues to obtain the gallbladder section with the largest scanning area, including:

[0061] Obtain the data length dataSize used for scan trajectory analysis, and do not include the latest gallbladder area value data at the tail of the data queue in the trend judgment. Here, dataSize is set to half the length of the data queue.

[0062] Calculate the data length l used for scan trajectory trend analysis t

[0063] l t = L / 2 (3)

[0064] L is the length of the data queue;

[0065] Sequentially traverse the data in said data queue, obtain the first value with gallbladder area greater than 0 in the data queue, and mark it as d i0 , wherein i0 represents d i0 the index position in the data queue;

[0066] starting from i0, traverse and update the last value with gallbladder area greater than 0 in the data queue, and mark it as d i1 , wherein i1 represents d i1 the index position in the data queue; traverse and update the maximum value d among the data between i0 and i1 in the data queue imax and the minimum value d imin , wherein i max and i min are respectively d imax , d imin the index positions in the data queue, until i1 ≥ l t ; traverse and update the number of data with gallbladder area equal to 0 between i0 and i1 in the data queue, and mark it as n;

[0067] if i1 - i0 < m or n > (i1 - i0) / 2, wherein m is a set threshold (the recommended value of m is 3), then it is determined that the change trend of the gallbladder area cannot be judged according to the data in the current queue, and at this time, the scanning direction of the gallbladder is not changed;

[0068] if the above condition is not satisfied, perform the following calculation:

[0069] if i min > i max :

[0070]

[0071] if i min < i max :

[0072]

[0073] calculate the variation Δd of gallbladder area according to formula (6):

[0074] Δd = d i1 - d i0 (6)

[0075] if Δd > Δd min , Δd min is a set threshold (the recommended value is 1000), then it is determined that the gallbladder area is decreasing, and the gallbladder search direction needs to be changed;

[0076] If it is determined that the gallbladder search direction needs to be changed, the ultrasound robot stops rotating around the Z-axis and enters the translation phase along the X-axis.

[0077] Example 2

[0078] Figure 2 This is a schematic diagram of the structure of an automated ultrasonic robot gallbladder scanning device provided in Embodiment 2 of the present invention, as shown below. Figure 2 As shown, the automated ultrasound robot gallbladder scanning device includes: a gallbladder contour acquisition module 210, a gallbladder contour position adjustment module 220, a primary gallbladder search module 230, and a secondary gallbladder search module 240, wherein...

[0079] The gallbladder contour acquisition module 210 is used to control the ultrasound robot to perform ultrasound scanning on the gallbladder area and acquire the gallbladder contour in the ultrasound image.

[0080] The gallbladder contour position adjustment module 220 is used to adjust the position of the ultrasound probe so that the gallbladder contour is located at the center of the ultrasound image if the area of ​​the gallbladder contour exceeds an area threshold in multiple consecutive ultrasound images.

[0081] The gallbladder primary search module 230 is used to perform a primary search by controlling the ultrasound probe to translate along the X-axis and / or rotate around the Y-axis in the robot tool coordinate system to determine the position of the ultrasound probe that matches the first preset gallbladder area.

[0082] The gallbladder secondary search module 240 is used to perform a secondary search at the position of the ultrasound probe with a first preset gallbladder area by controlling the ultrasound probe to rotate around the Z-axis and / or translate along the X-axis to determine the gallbladder cross section that conforms to the second preset gallbladder area; wherein, the gallbladder cross section with the second preset gallbladder area is searched based on the change of gallbladder area during the movement of the ultrasound probe.

[0083] Optional, a gallbladder contour acquisition module, specifically used for:

[0084] The coordinates of multiple two-dimensional image points in the ultrasound image are obtained, and the coordinates of the multiple two-dimensional image points are fitted based on the least squares method to obtain the fitted gallbladder contour.

[0085] Optional, a gallbladder contour position adjustment module, specifically used for:

[0086] Based on the coordinates of the gallbladder center point in the current ultrasound image and the coordinates of the image center point in the current ultrasound image, determine the image distance between the current gallbladder center point and the image center point;

[0087] The actual distance between the current center point of the gallbladder and the center point of the image is obtained by the ratio of the actual distance to the image distance. This distance is then used as the distance that the ultrasound robot moves the ultrasound probe in Cartesian space.

[0088] Optional, the gallbladder primary search module 230 is specifically used for:

[0089] Keep the ultrasound probe in contact with the skin of the object being scanned, and control the ultrasound probe to translate along the X-axis and / or rotate around the Y-axis to perform a first-level search within a set area;

[0090] When the gallbladder area reaches its maximum value in the ultrasound image queue, record the ultrasound probe position at the location of the maximum gallbladder area.

[0091] Optional, gallbladder secondary search module 240, specifically used for:

[0092] Keep the ultrasound probe in contact with the skin of the object being scanned and the gallbladder outline is located at the center of the ultrasound image, and control the ultrasound probe to rotate around the Z-axis at the ultrasound probe position of the first preset gallbladder area.

[0093] During the rotation, the gallbladder area is added to the data queue. When the gallbladder area gradually decreases, the rotation around the Z-axis is stopped. Then, the ultrasound probe is controlled to translate along the X-axis to adjust the gallbladder section. Then, the rotation around the Z-axis continues to obtain the gallbladder section with the largest area for gallbladder scanning.

[0094] Optional, gallbladder secondary search module 240, specifically used for:

[0095] Adding gallbladder area to the data queue includes: using the current gallbladder area as the target, adding the scanned gallbladder area to the data queue;

[0096] If the number of gallbladder area values ​​is less than the preset queue length, the gallbladder area obtained from the scan will be continuously added to the data queue; if the number of gallbladder area values ​​is equal to the preset queue length, new gallbladder area values ​​will be continuously inserted at the tail of the queue and deleted at the head of the queue until the scan is completed.

[0097] Optional, gallbladder secondary search module 240, specifically used for:

[0098] As the gallbladder area gradually decreases, rotation around the Z-axis is stopped. The ultrasound probe is then controlled to translate along the X-axis to adjust the gallbladder cross-section, and then rotation around the Z-axis continues to obtain the gallbladder cross-section with the largest scanning area, including:

[0099] Calculate the data length l used for scan trajectory trend analysis t

[0100] l t = L / 2 (3)

[0101] L is the length of the data queue;

[0102] Traverse the data in the data queue sequentially, obtain the first value with a gallbladder area greater than 0 in the data queue, and mark it as d i0 , wherein i0 represents d i0 the index position of in the data queue;

[0103] Starting from i0, traverse and update the last value with a gallbladder area greater than 0 in the data queue, and mark it as d i1 , wherein i1 represents d i1 the index position of in the data queue; traverse and update the maximum value d among the data between i0 and i1 in the data queue imax and the minimum value d imin , wherein i max and i min are respectively the index positions of d imax , d imin in the data queue, until i1 ≥ l t ; traverse and update the number of data with gallbladder area equal to 0 between i0 and i1 in the data queue, marked as n;

[0104] If i1-i0 < m or n > (i1–i0) / 2, wherein m is a set threshold (the recommended value of m is 3), it is determined that based on the current data in the queue, the change trend of the gallbladder area cannot be judged, and at this time, the scanning direction of the gallbladder is not changed;

[0105] If the above conditions are not satisfied, the following calculation is performed:

[0106] If i min > i max :

[0107]

[0108] If i min < i max :

[0109]

[0110] Calculate the change amount of gallbladder area Δd according to formula (6):

[0111] Δd = d i1 - d i0 (6)

[0112] If Δd > Δd min , Δd min is a set threshold (the recommended value is 1000), it is determined that the gallbladder area is decreasing, and the gallbladder search direction needs to be changed;

[0113] If it is determined that the gallbladder search direction needs to be changed, the ultrasound robot stops rotating scanning around the Z-axis and enters the translation stage along the X-axis.

[0114] The ultrasonic robot gallbladder scanning device provided in the embodiments of the present invention can perform the ultrasonic robot gallbladder scanning method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the method.

[0115] Example 3

[0116] Figure 3 This is a schematic diagram of the structure of an electronic device provided in Embodiment 3 of the present invention, as shown below. Figure 3 As shown, the electronic device includes a processor 310, a memory 320, an input device 330, and an output device 340; the number of processors 310 in the electronic device can be one or more. Figure 3 Taking a processor 310 as an example; the processor 310, memory 320, input device 330, and output device 340 in the electronic device can be connected via a bus or other means. Figure 3 Taking the example of a connection between China and Israel via a bus.

[0117] The memory 320, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the automated ultrasound robot gallbladder scanning method in this embodiment of the invention (e.g., the gallbladder contour acquisition module 210, gallbladder contour position adjustment module 220, gallbladder primary search module 230, and gallbladder secondary search module 240 in the automated ultrasound robot gallbladder scanning device). The processor 310 executes various functional applications and data processing of the electronic device by running the software programs, instructions, and modules stored in the memory 320, thereby realizing the aforementioned automated ultrasound robot gallbladder scanning method.

[0118] The memory 320 may primarily include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a given function; the data storage area may store data created based on terminal usage. Furthermore, the memory 320 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some instances, the memory 320 may further include memory remotely located relative to the processor 310, which can be connected to the electronic device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0119] Input device 330 can be used to receive input digital or character information, and to generate key signal inputs related to user settings and function control of the electronic device. Output device 340 may include display devices such as a display screen.

[0120] Example 4

[0121] Embodiment 4 of the present invention also provides a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform an automated ultrasound robot gallbladder scanning method, including:

[0122] The ultrasound robot is controlled to perform ultrasound scanning on the gallbladder area to obtain the gallbladder outline in the ultrasound image.

[0123] If the area of ​​the gallbladder contour exceeds an area threshold in multiple consecutive ultrasound images, the position of the ultrasound probe is adjusted so that the gallbladder contour is located at the center of the ultrasound image.

[0124] By controlling the ultrasound probe to translate along the X-axis and / or rotate around the Y-axis in the robot tool coordinate system, a first-level search is performed to determine the position of the ultrasound probe that matches the first preset gallbladder area.

[0125] At the position of the ultrasound probe with a first preset gallbladder area, a two-stage search is performed by controlling the ultrasound probe to rotate around the Z-axis and / or translate along the X-axis to determine a gallbladder section that conforms to a second preset gallbladder area; wherein, the gallbladder section with the second preset gallbladder area is searched based on the changes in gallbladder area during the movement of the ultrasound probe.

[0126] Of course, the computer-executable instructions provided in the embodiments of the present invention are not limited to the method operations described above, but can also perform related operations in the automatic ultrasound robot gallbladder scanning method provided in any embodiment of the present invention.

[0127] Based on the above description of the implementation methods, those skilled in the art can clearly understand that the present invention can be implemented using software and necessary general-purpose hardware, and of course, it can also be implemented using hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk, or optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0128] It is worth noting that in the embodiments of the above-mentioned automatic ultrasound robot gallbladder scanning device, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the scope of protection of the present invention.

[0129] Although the present invention has been described in detail above with general descriptions, specific embodiments, and experiments, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, all such modifications or improvements made without departing from the spirit of the present invention fall within the scope of protection claimed by the present invention.

Claims

1. An automated ultrasonic robot gallbladder scanning method, characterized in that, include: The ultrasound robot is controlled to perform ultrasound scanning on the gallbladder area to obtain the gallbladder outline in the ultrasound image. If the area of ​​the gallbladder contour exceeds an area threshold in multiple consecutive ultrasound images, the position of the ultrasound probe is adjusted so that the gallbladder contour is located at the center of the ultrasound image. By controlling the ultrasound probe to translate along the X-axis and / or rotate around the Y-axis in the robot tool coordinate system, a first-level search is performed to determine the position of the ultrasound probe that matches the first preset gallbladder area. At the position of the ultrasound probe with a first preset gallbladder area, a two-stage search is performed by controlling the ultrasound probe to rotate around the Z-axis and / or translate along the X-axis to determine the gallbladder cross-section that conforms to the second preset gallbladder area; wherein, the gallbladder cross-section of the second preset gallbladder area is searched based on the change of gallbladder area during the movement of the ultrasound probe. Specifically, by controlling the ultrasound probe to translate along the X-axis and / or rotate around the Y-axis in the robot tool coordinate system, a first-level search is performed to determine the ultrasound probe position that matches the first preset gallbladder area, including: Keep the ultrasound probe in contact with the skin of the object being scanned, and control the ultrasound probe to translate along the X-axis and / or rotate around the Y-axis to perform a first-level search within a set area; When the gallbladder area reaches its maximum value in the ultrasound image queue, record the ultrasound probe position at the location of the maximum gallbladder area. At the location of the ultrasound probe within the first preset gallbladder area, a secondary search is performed by controlling the ultrasound probe to rotate around the Z-axis and / or translate along the X-axis to determine a gallbladder cross-section that conforms to the second preset gallbladder area, including: Keep the ultrasound probe in contact with the skin of the object being scanned and the gallbladder outline is located at the center of the ultrasound image, and control the ultrasound probe to rotate around the Z-axis at the ultrasound probe position of the first preset gallbladder area. During the rotation, the gallbladder area is added to the data queue. When the gallbladder area gradually decreases, the rotation around the Z-axis is stopped. Then, the ultrasound probe is controlled to translate along the X-axis to adjust the gallbladder section. Then, the rotation around the Z-axis continues to obtain the gallbladder section with the largest area for gallbladder scanning.

2. The method according to claim 1, characterized in that, Obtaining the gallbladder contour in ultrasound images includes: The coordinates of multiple two-dimensional image points in the ultrasound image are obtained, and the coordinates of the multiple two-dimensional image points are fitted based on the least squares method to obtain the fitted gallbladder contour.

3. The method according to claim 1 or 2, characterized in that, Adjusting the position of the ultrasound probe so that the gallbladder contour is centered in the ultrasound image includes: Based on the coordinates of the gallbladder center point in the current ultrasound image and the coordinates of the image center point in the current ultrasound image, determine the image distance between the current gallbladder center point and the image center point; The actual distance between the current center point of the gallbladder and the center point of the image is obtained by the ratio of the actual distance to the image distance. This distance is then used as the distance that the ultrasound robot moves the ultrasound probe in Cartesian space.

4. The method according to claim 1, characterized in that, Add gallbladder area to the data queue, including: Using the current gallbladder area as the target, the gallbladder area obtained from the scan is placed in the data queue; If the number of gallbladder area values ​​is less than the preset queue length, the gallbladder area obtained from the scan will be continuously added to the data queue; if the number of gallbladder area values ​​is equal to the preset queue length, new gallbladder area values ​​will be continuously inserted at the tail of the queue and deleted at the head of the queue until the scan is completed.

5. The method according to claim 4, characterized in that, As the gallbladder area gradually decreases, rotation around the Z-axis is stopped. The ultrasound probe is then controlled to translate along the X-axis to adjust the gallbladder cross-section, and then rotation around the Z-axis continues to obtain the gallbladder cross-section with the largest scanning area, including: Calculate the data length used for scan trajectory trend analysis l t l t = L / 2 L The length of the data queue; Iterate through the data in the data queue sequentially, and obtain the first value in the data queue whose gallbladder area is greater than 0, denoted as . d i0 ,in i 0 express d i0 The index position in the data queue; from i 0 Begin by iterating through and updating the data queue, starting with the last gallbladder area greater than 0, denoted as . d i1 ,in i 1 express d i1 The index position in the data queue; iterate through and update the data queue. i 0 arrive i Maximum value of data between 1 d imax and minimum value d imin ,in i max and i min They are respectively d imax , d imin The index position in the data queue, until... i 1 >= l t ; Traverse and update the data queue i 0 arrive i The number of data points between 1 and 2 where the gallbladder area is equal to 0 is denoted as . n ; if i 1 - i 0 < ( i 1 – i 0 If m is the set threshold, then it is considered that the trend of gallbladder area change cannot be determined based on the data in the current queue. In this case, the scanning direction of the gallbladder is not changed. If the above conditions are not met, then the following calculations are performed: if i min > i max : if i min < i max : The change in gallbladder area is calculated using the following formula. : if > , If the set threshold is not met, it is assumed that the area of ​​the gallbladder is decreasing, and the gallbladder search direction needs to be changed. If it is determined that the gallbladder search direction needs to be changed, the ultrasound robot stops rotating around the Z-axis and enters the translation phase along the X-axis.

6. An automated ultrasonic robotic gallbladder scanning device, characterized in that, include: The gallbladder contour acquisition module is used to control the ultrasound robot to perform ultrasound scanning on the gallbladder area and acquire the gallbladder contour in the ultrasound image. A gallbladder contour position adjustment module is used to adjust the position of the ultrasound probe so that the gallbladder contour is located at the center of the ultrasound image if the area of ​​the gallbladder contour exceeds an area threshold in multiple consecutive ultrasound images. The gallbladder primary search module is used to perform a primary search by controlling the ultrasound probe to translate along the X-axis and / or rotate around the Y-axis in the robot tool coordinate system to determine the position of the ultrasound probe that matches the first preset gallbladder area. The gallbladder secondary search module is used to perform a secondary search at the position of the ultrasound probe with a first preset gallbladder area by controlling the ultrasound probe to rotate around the Z-axis and / or translate along the X-axis to determine the gallbladder cross-section that conforms to the second preset gallbladder area; wherein, the gallbladder cross-section of the second preset gallbladder area is searched based on the change of gallbladder area during the movement of the ultrasound probe. The gallbladder primary search module is specifically used for: Keep the ultrasound probe in contact with the skin of the object being scanned, and control the ultrasound probe to translate along the X-axis and / or rotate around the Y-axis to perform a first-level search within a set area; When the gallbladder area reaches its maximum value in the ultrasound image queue, record the ultrasound probe position at the location of the maximum gallbladder area. The gallbladder secondary search module is specifically used for: Keep the ultrasound probe in contact with the skin of the object being scanned and the gallbladder outline is located at the center of the ultrasound image, and control the ultrasound probe to rotate around the Z-axis at the ultrasound probe position of the first preset gallbladder area. During the rotation, the gallbladder area is added to the data queue. When the gallbladder area gradually decreases, the rotation around the Z-axis is stopped. Then, the ultrasound probe is controlled to translate along the X-axis to adjust the gallbladder section. Then, the rotation around the Z-axis continues to obtain the gallbladder section with the largest area for gallbladder scanning.

7. An electronic device, characterized in that, include: One or more processors; Memory, used to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the automated ultrasonic robot gallbladder scanning method as described in any one of claims 1-5.

8. A storage medium containing computer-executable instructions, characterized in that, The computer-executable instructions, when executed by a computer processor, are used to perform the automated ultrasonic robot gallbladder scanning method as described in any one of claims 1-5.

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