Ultrasonic positioning puncture system and storage medium

Abstract

The invention relates to an ultrasonic positioning puncture system and a storage medium. The ultrasonic positioning puncture system at least comprises computer equipment, an ultrasonic probe and a puncture plate; the ultrasonic positioning puncture system further comprises at least one of a navigation device and a first control device. The navigation device is connected with the ultrasonic probe; the first control device is connected with the ultrasonic probe; the computer equipment comprises a memory and a processor; a computer program is stored in the memory; when the processor runs the computer program, the following steps are executed: positioning the position information of a target spot in an ultrasonic section image projected by the ultrasonic probe; the target point is a mapping point formed by projecting a puncture point on the puncture plate to the ultrasonic section image; and in response to the rotation of the ultrasonic probe, updating the position information of the target spot based on at least one of the first pose information after the rotation of the ultrasonic probe and the second pose information of the first control device. Precise positioning of the puncture position on the diseased region is achieved through the first pose information and / or the second pose information.

Description

Technical Field

[0001] The present application relates to the technical field of medical image processing, and in particular to an ultrasound positioning puncture system and a storage medium. Background Art

[0002] In the medical field, positioning puncture of organs, tissues and / or lesions in target objects is often performed under the monitoring and guidance of real-time medical images, such as ultrasound, computed tomography (CT) and / or magnetic resonance imaging (MRI) images, and medical staff perform puncture manually based on their experience.

[0003] In the prior art, the mapping relationship between the puncture plate and the medical image is fixed, but in practical applications, it is necessary to determine the position of the target to be punctured in the medical image; for example, during the rotation of the ultrasound probe, medical staff rely on experience to visually determine whether the target is located in the rotated ultrasound section image. The positioning of the target is prone to large errors, and the accuracy and stability are relatively poor.

[0004] Therefore, how to achieve accurate positioning of the puncture site in medical images is an urgent problem to be solved. Summary of the invention

[0005] Based on this, it is necessary to provide an ultrasonic puncture guidance system and storage medium to address the above technical problems.

[0006] In a first aspect, the present application provides an ultrasound positioning puncture system, which includes at least a computer device, an ultrasound probe and a puncture plate; the ultrasound positioning puncture system also includes at least one of a navigation device and a first control device; the navigation device is connected to the ultrasound probe; the first control device is connected to the ultrasound probe; the computer device includes a memory and a processor; a computer program is stored in the memory; and the processor performs the following steps when running the computer program: Position information of a target point in the ultrasonic section image projected by the ultrasonic probe; the target point is a mapping point where the puncture point on the puncture plate is projected onto the ultrasonic section image; In response to the rotation of the ultrasonic probe, the position information of the target is updated based on at least one of the first posture information of the ultrasonic probe after rotation and the second posture information of the first control device.

[0007] In one embodiment, the location information of the target point located in the ultrasound section image projected by the ultrasound probe includes: Establish a first coordinate system corresponding to the ultrasonic section image, a second coordinate system corresponding to the puncture plate, and a third coordinate system corresponding to the ultrasonic detection plane of the ultrasonic probe; the first coordinate system takes the vertex of the ultrasonic section image as the origin; the second coordinate system takes the center point of the puncture plate as the origin; the third coordinate system takes the center point of the ultrasonic detection plane of the ultrasonic probe as the origin; Obtain a first transformation matrix for position conversion between the first coordinate system and the third coordinate system, and a second transformation matrix for position conversion between the second coordinate system and the third coordinate system; The position information of the target point is located in the ultrasound section image according to the first transformation matrix and the second transformation matrix.

[0008] In one embodiment, the first posture information includes a rotation matrix and a translation matrix; the rotation matrix is ​​used to describe the posture change of the ultrasound probe; the translation matrix is ​​used to describe the position change of the ultrasound probe; and the updating of the position information of the target based on the first posture information after the rotation of the ultrasound probe and the second posture information of the first control device includes: The position information of the target is updated according to the rotation matrix, the translation matrix, the first transformation matrix and the second transformation matrix.

[0009] In one embodiment, the first control device includes the 1st joint to the i-th joint and i-1 motion rods; adjacent joints are connected by the motion rods; i is a positive integer and i is greater than 1; and the second posture information includes the DH parameters of the joint coordinate system of each joint.

[0010] In one embodiment, updating the position information of the target point based on the first posture information of the ultrasound probe after rotation and the second posture information of the first control device includes: Determine a first position conversion relationship between the joint coordinate system of the first joint and the joint coordinate system of the i-th joint according to the DH parameters of the joint coordinate systems of the joints; Acquire a second position conversion relationship between a joint coordinate system of a joint connected to the ultrasound probe and the third coordinate system; The position information of the target is updated according to the first position conversion relationship, the second position conversion relationship, the first transformation matrix and the second transformation matrix.

[0011] In one embodiment, the DH parameters include a first rotation angle around the Z axis between the joint coordinate systems of adjacent joints, a first translation distance along the X axis between the joint coordinate systems of adjacent joints, a second rotation angle around the X axis between the joint coordinate systems of adjacent joints, and a second translation distance along the Z axis between the joint coordinate systems of adjacent joints.

[0012] In one embodiment, determining a first position conversion relationship between the joint coordinate system of the first joint and the joint coordinate system of the i-th joint according to the DH parameters of the joint coordinate systems of the joints includes: Determine a first transformation matrix between a joint coordinate system of a preceding joint and a joint coordinate system of a succeeding joint in sequence according to the first rotation angle, the second rotation angle, the first translation distance, and the second translation distance; According to the first transformation matrices from the 1st to the i-1th, the first position transformation relationship between the joint coordinate system of the 1st joint and the joint coordinate system of the ith joint is determined.

[0013] In one embodiment, the ultrasonic probe is rotatably connected to the end of the first control device; the ultrasonic detection plane rotates following the ultrasonic probe, and / or the ultrasonic detection plane rotates following the built-in driving device of the ultrasonic probe.

[0014] In one embodiment, the ultrasound positioning puncture system further includes a second control device and an interventional puncture device mounted on the end of the second control device; the computer device is also electrically connected to the second control device, and the processor further performs the following steps when running the computer program: The updated position information of the target point in the ultrasonic section image is used as the target puncture position, and the interventional puncture device is controlled to puncture the target puncture position.

[0015] In a second aspect, the present application further provides a computer-readable storage medium, wherein a computer program is stored thereon, and when the computer program is executed by a processor, the steps executed by the system described in any embodiment of the present application are implemented.

[0016] In the above-mentioned ultrasound positioning puncture system, in response to the rotation operation of the ultrasound probe, the position information of the target in the ultrasound section image can be updated in real time during the rotation of the ultrasound probe according to the first posture information of the ultrasound probe and at least one of the second posture information of the first control device, without the need for manual judgment to identify whether the target is located in the rotated ultrasound section image, thereby achieving accurate positioning of the puncture position on the lesion site, reducing the number of unnecessary punctures, and improving the patient's medical experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic diagram of an ultrasound positioning puncture system according to an exemplary embodiment; Figure 2 is a schematic diagram of a process of implementing ultrasonic positioning by a computer device according to an exemplary embodiment; Figure 3 is a schematic diagram of a process of implementing ultrasonic positioning by a computer device according to an exemplary embodiment; Figure 4 The figure is a diagram showing the internal structure of a computer device according to an exemplary embodiment. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0019] The terms "first", "second", "third" in the embodiments of the present application are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined as "first", "second", "third" can expressly or implicitly include at least one of the features. In the description of the present application, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally also includes other steps or units inherent to these processes, methods, products or devices.

[0020] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0021] In the embodiment of the present application, an ultrasound positioning puncture system is provided, which at least includes: a computer device 101, an ultrasound probe 102, an interventional puncture device 103, and a puncture board 104; the ultrasound positioning puncture system may also include at least one of a first control device 105 and a navigation device 106. The first control device 105 is physically connected to the ultrasound probe 102; the navigation device 106 is physically connected to the ultrasound probe 102 through a connector; the ultrasound probe 102, the interventional puncture device 103, the puncture board 104, the first control device 105, and the navigation device 106 are all connected to the computer device 101 for communication. The computer device 101 can be used to implement the steps of guiding the puncture of the target object in any embodiment of the present application; the navigation device 106 may include a positioning sensor (electromagnetic sensor or optical sensor). The computer device can update the position information of the target point in the ultrasound section image projected by the ultrasound probe according to at least one of the first posture information obtained by the navigation device and the second posture information of the first control device.

[0022] In one embodiment, the ultrasound positioning puncture system may include a first control device 105 and a navigation device 106. When the navigation device 106 fails to work normally due to an abnormal failure, the position information of the target in the ultrasound section image can be accurately located through the second posture information of the first control device 105; or, after the position information of the target is updated in the ultrasound section image according to the second posture information of the first control device 105, the first posture information of the ultrasound probe 102 can be obtained according to the navigation device 106 to verify whether the position information of the target is accurate, so as to provide guarantee for subsequent puncture based on the target.

[0023] In one embodiment, Figure 1 As shown, the ultrasonic puncture system may include: a computer device 101, an ultrasonic probe 102, an interventional puncture device 103, a puncture board 104, and a first control device 105; the computer device may update the position information of the target point in the ultrasonic section image in real time according to the second posture information of the first control device 105. Alternatively, the ultrasonic puncture system may include a computer device 101, an ultrasonic probe 102, an interventional puncture device 103, a puncture board 104, and a navigation device 106; the puncture board 104 is fixed on the ultrasonic probe 102; the computer device may update the position information of the target point in the ultrasonic section image according to the first posture information of the ultrasonic probe 102 acquired in real time by the navigation device 106.

[0024] In the embodiments of the present application, the computer device may be any mobile terminal or fixed terminal. The terminal may be a device that provides voice and / or data connectivity to a user. Exemplarily, the terminal may be an IoT terminal, such as a sensor device, a mobile phone or a so-called "cellular" phone, and a computer with an IoT terminal, for example, a fixed, portable, pocket-sized, handheld, computer-built-in, or vehicle-mounted device.

[0025] In some embodiments, the communication connection may include a wired connection and a wireless connection. For example, the ultrasound probe 102, the interventional puncture device 103, the puncture plate 104, the first control device 105, and the navigation device 106 are all connected to the computer device 101 by wire through a physical medium, and data transmission is performed through a physical line, which has higher stability and speed. Alternatively, the ultrasound probe 102, the interventional puncture device 103, the puncture plate 104, the first control device 105, and the navigation device 106 are all connected to the computer device 101 by wireless technology, and data transmission is not limited by physical lines, and the flexibility is relatively better.

[0026] In some embodiments, Figure 2 As shown, an ultrasound positioning puncture system is provided, the ultrasound positioning puncture system at least comprising a computer device, an ultrasound probe and a puncture plate; the ultrasound positioning puncture system also comprises at least one of a navigation device and a first control device; the navigation device is connected to the ultrasound probe; the first control device is connected to the ultrasound probe; the computer device comprises a memory and a processor; a computer program is stored in the memory; the processor performs the following steps when running the computer program: S101, locating position information of a target point in the ultrasonic section image projected by the ultrasonic probe; the target point is a mapping point where the puncture point on the puncture plate is projected onto the ultrasonic section image.

[0027] In the embodiment of the present application, the ultrasound probe is used to obtain the ultrasound cross-sectional image and display it on the screen in real time. The ultrasound probe may include but is not limited to a single-plane ultrasound probe and a dual-plane ultrasound probe. For example, the ultrasound probe may be a transrectal dual-plane intracavitary probe.

[0028] In the embodiment of the present application, the ultrasound section image may include an ultrasound cross-sectional (cross-sectional) image and / or an ultrasound sagittal (longitudinal) image.

[0029] In the embodiment of the present application, the puncture plate can be a positioning guide plate for assisting puncture surgery. A color band and a plurality of puncture points (puncture holes) arranged at fixed intervals can be set on the puncture plate. The color band is located between two adjacent puncture points, and the color band can be set to different colors; medical staff can judge the position of the puncture point by simply observing the color band, so as to find the puncture point to be punctured more intuitively, conveniently and accurately.

[0030] In some embodiments, the computer device can project the puncture point on the puncture plate onto the ultrasonic section image according to the coordinate mapping relationship between the ultrasonic section image and the puncture plate; the puncture point on the puncture plate corresponds to the mapping point in the ultrasonic section image one by one. The computer device can determine that the mapping point where the puncture point to be punctured is projected onto the ultrasonic section image is the target point.

[0031] S102: In response to the rotation of the ultrasonic probe, updating the position information of the target point based on at least one of the first posture information of the ultrasonic probe after rotation and the second posture information of the first control device.

[0032] In the embodiment of the present application, the first control device may be used to control the movement of the ultrasound probe. The first control device may include but is not limited to one of a mechanical arm and a stepper.

[0033] In the embodiment of the present application, the first posture information can indicate the spatial position and posture of the ultrasound probe in the three-dimensional space.

[0034] In the embodiment of the present application, the second posture information may indicate the spatial position and posture of the first control device in three-dimensional space.

[0035] In some embodiments, after the ultrasonic probe rotates, the computer device can obtain the rotation angle and acceleration data based on the inertial measurement unit (IMU) built into the ultrasonic probe to calculate the first pose information; alternatively, the computer device can monitor the motion trajectory of the ultrasonic probe based on an external navigation device (such as an optical sensor, an electromagnetic sensor) and convert it into corresponding first pose information; alternatively, the computer device can also indirectly determine the first pose information of the ultrasonic probe based on the second pose information of a first control device connected to the ultrasonic probe.

[0036] In an embodiment of the present application, the computer device acquires an ultrasonic section image in real time after the ultrasonic probe rotates, and updates the position information of the target in the re-acquired ultrasonic section image by acquiring the first posture information of the ultrasonic probe and / or the second posture information of the first control device connected to the ultrasonic probe, and in combination with the coordinate mapping relationship between the ultrasonic section image and the puncture plate established in the initial posture of the ultrasonic probe (for example, the ultrasonic probe is orthogonal to the puncture plate).

[0037] In one embodiment, when the ultrasound probe is a 4D (Four-Dimensional) probe, the ultrasound positioning puncture system may not need to include a navigation device and a first control device. After the ultrasound probe rotates, the ultrasound detection plane of the computer device does not rotate with the rotation of the ultrasound probe, but rotates with the movement of the built-in driving device (such as a rotary motor) of the ultrasound probe; the computer device can indirectly derive the first position information of the ultrasound probe based on the motion parameters of the driving device; based on the first position information, update the position information of the target in the re-acquired ultrasound section image.

[0038] In one embodiment, when the ultrasound probe is a 4D probe and the ultrasound positioning puncture system includes a first control device, after the ultrasound probe is rotated, the computer device can update the position information of the target in the re-acquired ultrasound section image according to the motion parameters of the driving device built into the ultrasound probe and in combination with the second posture information of the first control device.

[0039] In the above-mentioned ultrasound positioning puncture system, in response to the rotation operation of the ultrasound probe, the position information of the target in the ultrasound section image can be updated in real time during the rotation of the ultrasound probe according to the first posture information of the ultrasound probe and at least one of the second posture information of the first control device, without the need for manual judgment to identify whether the target is located in the rotated ultrasound section image, thereby achieving accurate positioning of the puncture position on the lesion site, reducing the number of unnecessary punctures, and improving the patient's medical experience.

[0040] In some embodiments, the location information of the target point located in the ultrasound section image projected by the ultrasound probe includes: Establish a first coordinate system corresponding to the ultrasonic section image, a second coordinate system corresponding to the puncture plate, and a third coordinate system corresponding to the ultrasonic detection plane of the ultrasonic probe; the first coordinate system takes the vertex of the ultrasonic section image as the origin; the second coordinate system takes the center point of the puncture plate as the origin; the third coordinate system takes the center point of the ultrasonic detection plane of the ultrasonic probe as the origin; Obtain a first transformation matrix for position conversion between the first coordinate system and the third coordinate system, and a second transformation matrix for position conversion between the second coordinate system and the third coordinate system; The position information of the target point is located in the ultrasound section image according to the first transformation matrix and the second transformation matrix.

[0041] In the embodiment of the present application, the first transformation matrix and the second transformation matrix are both space transformation matrices. The first transformation matrix can represent the position conversion relationship between the first coordinate system and the third coordinate system; the second transformation matrix can represent the position conversion relationship between the second coordinate system and the third coordinate system.

[0042] In the embodiment of the present application, the position information may indicate the pixel coordinates of the target point in the first coordinate system corresponding to the ultrasound section image.

[0043] In some embodiments, the computer device can obtain a first transformation matrix between a first coordinate system corresponding to the ultrasound section image and a third coordinate system corresponding to the ultrasound probe imaging plane by means of probe calibration; and the computer device can obtain a second transformation matrix between a second coordinate system corresponding to the puncture plate and a third coordinate system corresponding to the ultrasound probe imaging plane by means of calibration or measurement; based on the first transformation matrix and the second transformation matrix, a coordinate conversion relationship between the first coordinate system and the second coordinate system can be established, thereby realizing the position information of the target point located in the ultrasound section image.

[0044] Exemplarily, the coordinates of the first puncture point to be punctured on the puncture plate in the second coordinate system are , the pixel coordinates of the first puncture point projected to the target point in the ultrasound section image ;in, Indicates the first transformation matrix The inverse matrix of Indicates the second transformation matrix.

[0045] In the embodiment of the present application, a coordinate conversion relationship between the first coordinate system corresponding to the ultrasonic section image and the second coordinate system corresponding to the puncture plate can be established through the first transformation matrix and the second transformation matrix, thereby achieving accurate positioning of the target on the ultrasonic section image.

[0046] In some embodiments, the first posture information includes a rotation matrix and a translation matrix; the rotation matrix is ​​used to describe the posture change of the ultrasound probe; the translation matrix is ​​used to describe the position change of the ultrasound probe; and the updating of the position information of the target based on at least one of the first posture information after the rotation of the ultrasound probe and the second posture information of the first control device includes: The position information of the target is updated according to the rotation matrix, the translation matrix, the first transformation matrix and the second transformation matrix.

[0047] In the embodiment of the present application, the rotation matrix can be used to describe the posture change of the ultrasound probe, that is, whether the ultrasound probe is tilted, deflected or twisted at an angle and direction. The computer device can clarify the direction of the ultrasound probe based on the rotation matrix, such as whether the ultrasound probe is facing down, facing left, etc., which helps to understand the orientation of the ultrasound probe relative to the structure in the patient's body. Exemplarily, the rotation matrix can be a 3×3 orthogonal matrix used to represent the angle of rotation of the ultrasound probe around three coordinate axes.

[0048] In an embodiment of the present application, the translation matrix can be used to describe the position movement of the ultrasound probe relative to the initial position. The computer device can determine the specific position of the ultrasound probe in space based on the translation matrix, which helps to track the actual position of the probe. Exemplarily, the translation matrix can be represented by a 3×1 column vector to describe the displacement of the ultrasound probe along the three coordinate axes.

[0049] In some embodiments, the computer device can obtain the rotation matrix through a navigation device, that is, an electromagnetic sensor or an optical sensor. and translation matrix ; After the ultrasound probe is rotated, a method for updating the position information of the target in the ultrasound section image is as follows: ;in, Indicates the first transformation matrix The inverse matrix of indicating a second transformation matrix; Indicates the location information of the target; Indicates the position information of the puncture point in the second coordinate system.

[0050] In an embodiment of the present application, during the rotation of the ultrasound probe, the first position information of the ultrasound probe is acquired in real time and the position information of the target in the ultrasound section image can be updated in real time based on the first position information, thereby ensuring that the mapping relationship between the ultrasound section image and the target area (such as tumors, lesions, etc.) is accurate, achieving precise positioning, reducing errors caused by manual adjustments or visual estimation, and making subsequent puncture or other interventional operations based on the target safer and more reliable.

[0051] In some embodiments, the first control device includes the 1st joint to the i-th joint and i-1 motion rods; adjacent joints are connected by the motion rods; i is a positive integer and i is greater than 1; the second posture information includes the DH parameters of the joint coordinate system of each joint.

[0052] In some embodiments, when the first control device is a robotic arm, the robotic arm may include i joints; adjacent joints are connected by a motion rod; the proximal end of the motion rod is joint k, and the distal end is joint k+1.

[0053] In some embodiments, when the first control device is a stepper, each movement axis of the stepper (eg, lifting, forward and backward translation, rotation, and tilt, etc.) can be understood as a virtual joint.

[0054] In the embodiment of the present application, the joint may include a rotation joint and a translation joint.

[0055] In the embodiment of the present application, the DH (Denavit-Hartenberg) parameter is a standard parameter used in robotics and robot kinematics to describe the relative position and direction between motion rods (rigid connection segments between various parts or joints of the robot).

[0056] In some embodiments, the DH parameters include a first rotation angle around the Z axis between the joint coordinate systems of adjacent joints, a first translation distance along the X axis between the joint coordinate systems of adjacent joints, a second rotation angle around the X axis between the joint coordinate systems of adjacent joints, and a second translation distance along the Z axis between the joint coordinate systems of adjacent joints.

[0057] In the embodiment of the present application, the Z axis is defined as the direction along the rotation axis of the motion rod. For a rotating joint, the Z axis coincides with the joint axis; for a moving joint, the Z axis indicates the direction of motion.

[0058] In the embodiment of the present application, the X-axis is defined as the common normal direction at the shortest distance between two adjacent Z-axes.

[0059] In some embodiments, updating the position information of the target based on at least one of the first posture information of the ultrasound probe after rotation and the second posture information of the first control device includes: Determine a first position conversion relationship between the joint coordinate system of the first joint and the joint coordinate system of the i-th joint according to the DH parameters of the joint coordinate systems of the joints; Acquire a second position conversion relationship between a joint coordinate system of a joint connected to the ultrasound probe and the third coordinate system; The position information of the target is updated according to the first position conversion relationship, the second position conversion relationship, the first transformation matrix and the second transformation matrix.

[0060] In some embodiments, the DH parameters define the position conversion relationship from the joint coordinate system of the previous joint to the joint coordinate system of the next joint; the computer device can gradually transform from the joint coordinate system of the first joint to the joint coordinate system of the last joint according to the DH parameters of each joint, thereby determining the first position conversion relationship between the joint coordinate system of the first joint and the joint coordinate system of the i-th joint; the computer device determines the second conversion matrix between the joint coordinate system of the joint (i-th joint) where the end of the first control device is connected to the ultrasonic probe and the third coordinate system corresponding to the imaging plane of the ultrasonic probe according to measurement or calibration; the second conversion matrix represents the position conversion relationship between the two coordinate systems, that is, the second position conversion relationship; according to the first position conversion relationship, the second position conversion relationship, the first transformation matrix and the second transformation matrix, the position information of the target in the ultrasonic section image can be updated in real time.

[0061] Exemplarily, a method of updating target location information is as follows: ;in, Indicates the first transformation matrix The inverse matrix of indicating a second transformation matrix; Indicates the location information of the target; Indicates the position information of the puncture point in the second coordinate system; Indicates a first position conversion relationship; Indicates the second position conversion relationship.

[0062] In some embodiments, determining a first position conversion relationship between the joint coordinate system of the first joint and the joint coordinate system of the i-th joint according to the DH parameters of the joint coordinate systems of the joints includes: Determine a first transformation matrix between a joint coordinate system of a preceding joint and a joint coordinate system of a succeeding joint in sequence according to the first rotation angle, the second rotation angle, the first translation distance, and the second translation distance; According to the first transformation matrices from the 1st to the i-1th, the first position transformation relationship between the joint coordinate system of the 1st joint and the joint coordinate system of the ith joint is determined.

[0063] In some embodiments, the electronic device can determine the first transformation matrix between the joint coordinate system of the kth joint and the joint coordinate system of the k+1th joint according to the DH parameter method; by multiplying the 1st to i-1th first transformation matrices, it can gradually transform from the 1st joint coordinate system to the i-th joint coordinate system, thereby obtaining the position and posture of the entire first control device.

[0064] Exemplarily, a method for determining the first position conversion relationship is as follows: ;in, Indicates a first position conversion relationship; Indicates the 1st first transformation matrix; Indicates the second first transformation matrix; Indicates the i-th first transformation matrix.

[0065] In an embodiment of the present application, during the rotation of the ultrasound probe, the second posture information of the ultrasound probe is acquired in real time and the position information of the target in the ultrasound section image can be updated in real time according to the second posture information, thereby ensuring that the mapping relationship between the ultrasound section image and the target area (such as tumors, lesions, etc.) is accurate, achieving precise positioning, reducing errors caused by manual adjustments or visual estimation, and making subsequent puncture or other interventional operations based on the target safer and more reliable.

[0066] In some embodiments, the ultrasound probe is rotatably connected to the end of the control device; the ultrasound detection plane rotates following the ultrasound probe, and / or the ultrasound detection plane rotates following the built-in driving device of the ultrasound probe.

[0067] In some embodiments, the ultrasound detection plane starts at the position where the probe transmits and receives ultrasound waves; the ultrasound detection plane expands outward along a fan-shaped area (or called a fan surface). For example, when the ultrasound probe is a transrectal ultrasound probe, the ultrasound detection plane rotates with the rotation of the ultrasound probe; when the ultrasound probe is an ultrasound 4D probe, the ultrasound probe rotates the transducer array through a built-in small motor / motor, thereby driving the ultrasound detection plane to rotate; the ultrasound section image of each ultrasound detection plane will be displayed in real time on the display screen of the computer device.

[0068] In the embodiment of the present application, through the rotation of the ultrasound probe, the ultrasound detection plane continuously scans new areas, generating a series of continuously changing ultrasound slice images, which can be combined to form a more complete three-dimensional view, making it easier for medical staff to intuitively observe tumors, lesions, etc.

[0069] In some embodiments, the ultrasound-localized puncture system further includes a second control device and an interventional puncture device mounted on the end of the second control device; the computer device is also electrically connected to the second control device, and the processor further performs the following steps when running the computer program: The updated position information of the target point in the ultrasonic section image is used as the target puncture position, and the interventional puncture device is controlled to puncture the target puncture position.

[0070] Exemplarily, the interventional puncture device may include, but is not limited to, an ablation needle, a biopsy needle, and the like.

[0071] In some embodiments, the interventional puncture device can be controlled to enter the lesion site by manual operation, and the operation strategy can be adjusted in real time according to the actual situation; the interventional puncture device can also be assisted by a second control device (such as a robotic arm), thereby significantly improving the accuracy and repeatability of the puncture and reducing human errors and risks.

[0072] In the embodiments of the present application, the following provides specific examples in combination with any of the above embodiments: Specific example 1: Figure 3 FIG. 1 is a flow chart showing an exemplary computer device implementing ultrasound positioning; Figure 3 As shown, when the processor in the computer device executes the computer program, the following steps are implemented: S301, locating the position information of the target point in the ultrasound section image projected by the ultrasound probe.

[0073] In an optional embodiment, a first coordinate system corresponding to the ultrasonic section image, a second coordinate system corresponding to the puncture plate, and a third coordinate system corresponding to the imaging plane of the ultrasonic probe are established; the first coordinate system takes the vertex of the ultrasonic section image as the origin; the second coordinate system takes the center point of the puncture plate as the origin; the third coordinate system takes the center point of the ultrasonic detection plane of the ultrasonic probe as the origin; the first transformation matrix of the position conversion between each pixel point in the first coordinate system and the third coordinate system is obtained by probe calibration; the second transformation matrix of the position conversion between the second coordinate system and the third coordinate system is obtained by physical measurement or calibration tools; the coordinate data of the center of each puncture point on the puncture plate in the second coordinate system is measured, and the position information of the target point is located in the ultrasonic section image according to the first transformation matrix and the second transformation matrix; the target point is the mapping point of the puncture point on the puncture plate projected to the ultrasonic section image.

[0074] S302: In response to the rotation of the ultrasonic probe, obtaining at least one of the first posture information of the ultrasonic probe after rotation and the second posture information of the first control device.

[0075] In an optional embodiment, the first posture information includes a rotation matrix and a translation matrix; the rotation matrix is ​​used to describe the posture change of the ultrasound probe; the translation matrix is ​​used to describe the position change of the ultrasound probe; when the computer device obtains the first posture information of the ultrasound probe through the navigation device, enter S303; the first control device includes the 1st joint to the i-th joint and i-1 motion rods; adjacent joints are connected by motion rods; i is a positive integer and i is greater than 1; the second posture information includes the DH parameters of the joint coordinate system of each joint; when the computer device obtains the second posture information of the first control device, it can enter S304.

[0076] S303, updating the position information of the target point according to the rotation matrix, the translation matrix, the first transformation matrix and the second transformation matrix.

[0077] S304: Update the position information of the target point according to the DH parameters of the joint coordinate system of each joint.

[0078] In an optional embodiment, according to the DH parameters of the joint coordinate systems of each joint, the first position transformation relationship between the joint coordinate system of the first joint and the joint coordinate system of the i-th joint is determined; the second position transformation relationship between the joint coordinate system of the joint connected to the ultrasonic probe and the third coordinate system is obtained; according to the first position transformation relationship, the second position transformation relationship, the first transformation matrix and the second transformation matrix, the position information of the target is updated.

[0079] In the above-mentioned ultrasound positioning puncture system, in response to the rotation operation of the ultrasound probe, the position information of the target in the ultrasound section image can be updated in real time during the rotation of the ultrasound probe according to the first posture information of the ultrasound probe and at least one of the second posture information of the first control device, without the need for manual judgment to identify whether the target is located in the rotated ultrasound section image, thereby achieving accurate positioning of the puncture position on the lesion site, reducing the number of unnecessary punctures, and improving the patient's medical experience.

[0080] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0081] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 4 As shown. The computer device includes a processor, a memory, a communication interface, a display unit and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, an image processing method is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covered on the display screen, or a key, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse, etc.

[0082] Those skilled in the art will understand that Figure 4The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0083] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0084] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the steps executed by a processor of a computer device according to any one of the above items.

[0085] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0086] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0087] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0088] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. An ultrasound positioning puncture system, characterized in that: The ultrasound positioning puncture system at least comprises a computer device, an ultrasound probe and a puncture plate; the ultrasound positioning puncture system also comprises at least one of a navigation device and a first control device; the navigation device is connected to the ultrasound probe; the first control device is connected to the ultrasound probe; the computer device comprises a memory and a processor; a computer program is stored in the memory; and the processor performs the following steps when running the computer program: Position information of a target point in the ultrasonic section image projected by the ultrasonic probe; the target point is a mapping point where the puncture point on the puncture plate is projected onto the ultrasonic section image; In response to the rotation of the ultrasonic probe, the position information of the target is updated based on at least one of the first posture information of the ultrasonic probe after rotation and the second posture information of the first control device.

2. The system according to claim 1, characterized in that The position information of the target point located in the ultrasonic section image projected by the ultrasonic probe includes: Establish a first coordinate system corresponding to the ultrasonic section image, a second coordinate system corresponding to the puncture plate, and a third coordinate system corresponding to the ultrasonic detection plane of the ultrasonic probe; the first coordinate system takes the vertex of the ultrasonic section image as the origin; the second coordinate system takes the center point of the puncture plate as the origin; the third coordinate system takes the center point of the ultrasonic detection plane of the ultrasonic probe as the origin; Obtain a first transformation matrix for position conversion between the first coordinate system and the third coordinate system, and a second transformation matrix for position conversion between the second coordinate system and the third coordinate system; The position information of the target point is located in the ultrasound section image according to the first transformation matrix and the second transformation matrix.

3. The system according to claim 2, characterized in that The first posture information includes a rotation matrix and a translation matrix; the rotation matrix is ​​used to describe the posture change of the ultrasound probe; the translation matrix is ​​used to describe the position change of the ultrasound probe; the updating of the position information of the target based on at least one of the first posture information after the rotation of the ultrasound probe and the second posture information of the first control device includes: The position information of the target is updated according to the rotation matrix, the translation matrix, the first transformation matrix and the second transformation matrix.

4. The system according to claim 2, characterized in that The first control device includes the 1st joint to the i-th joint and i-1 motion rods; adjacent joints are connected by the motion rods; i is a positive integer and i is greater than 1; the second posture information includes the DH parameters of the joint coordinate system of each joint.

5. The system according to claim 4, characterized in that The updating of the position information of the target point based on at least one of the first posture information of the rotated ultrasonic probe and the second posture information of the first control device comprises: Determine a first position conversion relationship between the joint coordinate system of the first joint and the joint coordinate system of the i-th joint according to the DH parameters of the joint coordinate systems of the joints; Acquire a second position conversion relationship between a joint coordinate system of a joint connected to the ultrasound probe and the third coordinate system; The position information of the target is updated according to the first position conversion relationship, the second position conversion relationship, the first transformation matrix and the second transformation matrix.

6. The system according to claim 5, characterized in that The DH parameters include a first rotation angle between the joint coordinate systems of adjacent joints around the Z axis, a first translation distance between the joint coordinate systems of adjacent joints along the X axis, a second rotation angle between the joint coordinate systems of adjacent joints around the X axis, and a second translation distance between the joint coordinate systems of adjacent joints along the Z axis.

7. The system according to claim 6, characterized in that Determining a first position conversion relationship between the joint coordinate system of the first joint and the joint coordinate system of the i-th joint according to the DH parameters of the joint coordinate systems of the joints includes: Determine a first transformation matrix between a joint coordinate system of a preceding joint and a joint coordinate system of a succeeding joint in sequence according to the first rotation angle, the second rotation angle, the first translation distance, and the second translation distance; According to the first transformation matrices from the 1st to the i-1th, the first position transformation relationship between the joint coordinate system of the 1st joint and the joint coordinate system of the ith joint is determined.

8. The system according to claim 2, characterized in that The ultrasonic probe is rotatably connected to the end of the first control device; the ultrasonic detection plane rotates following the ultrasonic probe, and / or the ultrasonic detection plane rotates following the built-in driving device of the ultrasonic probe.

9. The system according to claim 4, characterized in that The ultrasound positioning puncture system also includes a second control device and an interventional puncture device mounted on the end of the second control device; the computer device is also electrically connected to the second control device, and the processor also performs the following steps when running the computer program: The updated position information of the target point in the ultrasonic section image is used as the target puncture position, and the interventional puncture device is controlled to puncture the target puncture position.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps performed by the system according to any one of claims 1 to 9 are implemented.

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