Ultrasonic positioning puncture system and storage medium

Abstract

The present application relates to an ultrasonic positioning puncture system and a storage medium. The ultrasonic positioning puncture system at least includes a computer device, an ultrasonic probe, and a puncture plate; the ultrasonic positioning puncture system further includes at least one of a navigation device and a first control device; the navigation device is connected to the ultrasonic probe; the first control device is connected to the ultrasonic probe; the computer device includes 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: locating the position information of a target point in the ultrasonic cross-sectional image projected by the ultrasonic probe; the target point is the mapping point of the puncture point on the puncture plate projected onto the ultrasonic cross-sectional image; in response to the rotation of the ultrasonic probe, 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, updating the position information of the target point. The present application realizes precise positioning of the puncture position on the lesion site through the first pose information and / or the second pose information.

Description

Technical Field

[0001] This application relates to the technical field of medical image processing, and particularly to an ultrasonic positioning puncture system and a storage medium. Background Art

[0002] In the medical field, when performing a positioning puncture on an organ, tissue, and / or lesion site in a target object, it is often under the monitoring and guidance of real-time medical images. For example, in ultrasonic, computed tomography (CT), and / or magnetic resonance imaging (MRI) images, medical staff manually perform the puncture in combination with experience.

[0003] In the prior art, the mapping relationship between the puncture plate and the medical image is fixed. However, in practical applications, it is necessary to determine the position of the target point to be punctured in the medical image. For example, during the rotation of the ultrasonic probe, medical staff visually determine whether the target point is located in the rotated ultrasonic cross-sectional image based on experience, and there are likely to be large errors in the positioning of the target point, and the accuracy and stability are relatively poor.

[0004] Therefore, how to achieve accurate positioning of the puncture position on the medical image is an urgent problem to be solved. Summary of the Invention

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

[0006] In a first aspect, this application provides an ultrasonic positioning puncture system. The ultrasonic positioning puncture system at least includes a computer device, an ultrasonic probe, and a puncture plate; the ultrasonic positioning puncture system further includes at least one of a navigation device and a first control device; the navigation device is connected to the ultrasonic probe; the first control device is connected to the ultrasonic probe; the computer device includes 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:

[0007] Locate the position information of the target point in the ultrasonic cross-sectional image projected by the ultrasonic probe; the target point is the mapping point of the puncture point on the puncture plate projected onto the ultrasonic cross-sectional image.

[0008] In response to the rotation of the ultrasonic probe, update the position information of the target point 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.

[0009] In one of the embodiments, the step of locating the position information of the target point in the ultrasonic cross-sectional image projected by the ultrasonic probe includes:

[0010] Establish a first coordinate system corresponding to the ultrasonic cross-sectional 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 origin of the first coordinate system is the vertex of the ultrasonic cross-sectional image; the origin of the second coordinate system is the center point of the puncture plate; the origin of the third coordinate system is the center point of the ultrasonic detection plane of the ultrasonic probe;

[0011] 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;

[0012] Locate the position information of the target point in the ultrasonic cross-sectional image according to the first transformation matrix and the second transformation matrix.

[0013] In one embodiment, the first pose information includes a rotation matrix and a translation matrix; the rotation matrix is used to describe the pose change of the ultrasonic probe; the translation matrix is used to describe the position change of the ultrasonic probe; updating the position information of the target point based on the first pose information after the ultrasonic probe rotates and the second pose information of the first control device includes:

[0014] Update the position information of the target point according to the rotation matrix, the translation matrix, the first transformation matrix, and the second transformation matrix.

[0015] In one embodiment, the first control device includes a first joint to an i-th joint and i-1 moving rods; adjacent joints are connected by the moving rods; i is a positive integer and i is greater than 1; the second pose information includes the DH parameters of the joint coordinate systems of each joint.

[0016] In one embodiment, updating the position information of the target point based on the first pose information after the ultrasonic probe rotates and the second pose information of the first control device includes:

[0017] 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 each joint;

[0018] Obtain a second position conversion relationship between the joint coordinate system of the joint connected to the ultrasonic probe and the third coordinate system;

[0019] Update the position information of the target point according to the first position conversion relationship, the second position conversion relationship, the first transformation matrix, and the second transformation matrix.

[0020] In one embodiment, the DH parameters include a first rotation angle about the Z axis between the joint coordinate systems of adjacent joints, a first translation distance of the joint coordinate systems of adjacent joints along the X axis, a second rotation angle about the X axis between the joint coordinate systems of adjacent joints, and a second translation distance between the joint coordinate systems of adjacent joints along the Z axis.

[0021] In one embodiment, determining a first position transformation 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 each joint includes:

[0022] According to the first rotation angle, the second rotation angle, the first translation distance, and the second translation distance, sequentially determine a first transformation matrix between the joint coordinate system of the previous joint and the joint coordinate system of the next joint;

[0023] According to the first transformation matrices from the first to the (i - 1)-th, determine the first position transformation relationship between the joint coordinate system of the first joint and the joint coordinate system of the i-th joint.

[0024] 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 a driving device built in the ultrasonic probe.

[0025] In one embodiment, the ultrasonic positioning and puncture system further includes a second control device and an interventional puncture device mounted at the end of the second control device; the computer device is also electrically connected to the second control device, and when the processor runs the computer program, the following steps are further executed:

[0026] Use the updated position information of the target in the ultrasonic cross-sectional image as the target puncture position, and control the interventional puncture device to puncture the target puncture position.

[0027] In a second aspect, the present application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, and when the computer program is executed by a processor, the steps executed by the system in any embodiment of the present application are implemented.

[0028] In the above ultrasonic positioning and puncture system, in response to the rotation operation of the ultrasonic probe, during the rotation of the ultrasonic probe, according to at least one of the first pose information of the ultrasonic probe and the second pose information of the first control device, the position information of the target in the ultrasonic cross-sectional image can be updated in real time, without the need for manual judgment to identify whether the target is located in the rotated ultrasonic cross-sectional image, thereby achieving accurate positioning of the puncture position on the lesion site, reducing unnecessary puncture times, and improving the medical experience of patients. Description of the Drawings

[0029] Figure 1 is a schematic diagram of an ultrasonic positioning puncture system shown according to an exemplary embodiment;

[0030] Figure 2 is a schematic flowchart of a computer device implementing ultrasonic positioning shown according to an exemplary embodiment;

[0031] Figure 3 is a schematic flowchart of a computer device implementing ultrasonic positioning shown according to an exemplary embodiment;

[0032] Figure 4 is an internal structure diagram of a computer device shown according to an exemplary embodiment. Detailed Embodiments

[0033] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to 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.

[0034] The terms "first", "second", and "third" in the embodiments of the present application are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first", "second", and "third" may explicitly or implicitly include at least one of such features. In the description of the present application, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically defined. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes unlisted steps or units, or optionally further includes other steps or units inherent to these processes, methods, products, or devices.

[0035] Referring to "embodiments" herein means that a particular feature, structure, or characteristic described in connection with the embodiments can be included in at least one embodiment of the present application. The phrase appears in various places in the specification and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0036] In an embodiment of the present application, an ultrasonic positioning puncture system is provided. The ultrasonic positioning puncture system at least includes: a computer device 101, an ultrasonic probe 102, an interventional puncture device 103, and a puncture plate 104; the ultrasonic positioning puncture system may further 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 ultrasonic probe 102; the navigation device 106 is physically connected to the ultrasonic probe 102 through a connector; the ultrasonic probe 102, the interventional puncture device 103, the puncture plate 104, the first control device 105, and the navigation device 106 are all communicatively connected to the computer device 101. The computer device 101 can be used to implement the steps of puncture guidance for a target object in any embodiment of the present application; the navigation device 106 may include a positioning sensor (an electromagnetic sensor or an optical sensor). The computer device can update the position information of the target point in the ultrasonic cross-sectional image projected by the ultrasonic probe according to at least one of the first pose information obtained by the navigation device and the second pose information of the first control device.

[0037] In one embodiment, the ultrasonic positioning puncture system may include a first control device 105 and a navigation device 106. When the navigation device 106 fails abnormally and cannot work properly, the position information of the target point in the ultrasonic cross-sectional image can be accurately positioned through the second pose information of the first control device 105; or, after updating the position information of the target point in the ultrasonic cross-sectional image according to the second pose information of the first control device 105, the first pose information of the ultrasonic probe 102 obtained by the navigation device 106 can be used to verify whether the position information of the target point is accurate, providing guarantee for subsequent puncture based on the target point.

[0038] In one embodiment, as Figure 1 shown, the ultrasonic puncture system may include: a computer device 101, an ultrasonic probe 102, an interventional puncture device 103, a puncture plate 104, and a first control device 105; the computer device can update the position information of the target point in the ultrasonic cross-sectional image in real time according to the second pose information of the first control device 105. Or, the ultrasonic puncture system may include a computer device 101, an ultrasonic probe 102, an interventional puncture device 103, a puncture plate 104, and a navigation device 106; the puncture plate 104 is fixed on the ultrasonic probe 102; the computer device can update the position information of the target point in the ultrasonic cross-sectional image according to the first pose information of the ultrasonic probe 102 obtained by the navigation device 106 in real time.

[0039] In the embodiments of the present application, the computer device can be any mobile terminal or fixed terminal. The terminal can be a device that provides voice and / or data connectivity to the user. Exemplarily, the terminal can be an Internet of Things (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, it can be a fixed, portable, pocket-sized, hand-held, computer-integrated or vehicle-mounted device.

[0040] In some embodiments, the communication connection can include a wired connection and a wireless connection. For example, the ultrasonic probe 102, the interventional puncture device 103, the puncture plate 104, the first control device 105, and the navigation device 106 are all wired-connected to the computer device 101 through a physical medium, and data transmission is carried out through a physical line, which has higher stability and speed. Alternatively, the ultrasonic probe 102, the interventional puncture device 103, the puncture plate 104, the first control device 105, and the navigation device 106 are all wireless-connected to the computer device 101 through wireless technology, and data transmission is not restricted by physical lines, and the flexibility is relatively better.

[0041] In some embodiments, as Figure 2 shown, an ultrasonic positioning puncture system is provided. The ultrasonic positioning puncture system at least includes a computer device, an ultrasonic probe, and a puncture plate; the ultrasonic positioning puncture system further includes at least one of a navigation device and a first control device; the navigation device is connected to the ultrasonic probe; the first control device is connected to the ultrasonic probe; the computer device includes 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:

[0042] S101, locate the position information of the target point in the ultrasonic cross-sectional image projected by the ultrasonic probe; the target point is the mapping point of the puncture point on the puncture plate projected onto the ultrasonic cross-sectional image.

[0043] In the embodiments of the present application, the ultrasonic probe is used to acquire an ultrasonic cross-sectional image and display it on the screen in real time. The ultrasonic probe can include, but is not limited to, a single-plane ultrasonic probe and a dual-plane ultrasonic probe. For example, the ultrasonic probe can be a transrectal dual-plane endocavity probe.

[0044] In the embodiments of the present application, the ultrasonic cross-sectional image can include an ultrasonic cross-sectional (transverse section) image and / or an ultrasonic sagittal (longitudinal section) image.

[0045] In the embodiments of the present application, the puncture plate can be a positioning guide plate for assisting in puncture surgery. Color bands and multiple puncture points (puncture holes) arranged at fixed intervals can be provided on the puncture plate. The color bands are located between two adjacent puncture points, and the color bands can be set in different colors; medical staff can simply judge the positions of the puncture points by observing the color bands, so as to find the puncture points to be punctured more intuitively, conveniently and accurately.

[0046] In some embodiments, the computer device can project the puncture points on the puncture plate onto the ultrasonic cross-sectional image according to the coordinate mapping relationship between the ultrasonic cross-sectional image and the puncture plate; the puncture points on the puncture plate correspond one-to-one with the mapped points in the ultrasonic cross-sectional image. The computer device can determine that the mapped point where the puncture point to be punctured is projected onto the ultrasonic cross-sectional image is the target point.

[0047] S102, in response to the rotation of the ultrasonic probe, update the position information of the target point 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.

[0048] In the embodiments of the present application, the first control device can be used to control the movement of the ultrasonic probe. The first control device can include, but is not limited to, a robotic arm and a stepper.

[0049] In the embodiments of the present application, the first pose information can indicate the spatial position and attitude of the ultrasonic probe in three-dimensional space.

[0050] In the embodiments of the present application, the second pose information can indicate the spatial position and attitude of the first control device in three-dimensional space.

[0051] In some embodiments, after the ultrasonic probe rotates, the computer device can obtain the rotation angle and acceleration data according to the inertial measurement unit (IMU) built in the ultrasonic probe, so as to calculate the first pose information; or, the computer device can monitor the movement trajectory of the ultrasonic probe according to an external navigation device (such as an optical sensor, an electromagnetic sensor) and convert it into the corresponding first pose information; or, the computer device can also indirectly determine the first pose information of the ultrasonic probe according to the second pose information of the first control device connected to the ultrasonic probe.

[0052] In the embodiments of the present application, after the ultrasonic probe rotates, the computer device obtains the ultrasonic cross-sectional image in real time, and updates the position information of the target point in the newly obtained ultrasonic cross-sectional image by obtaining the first pose information of the ultrasonic probe and / or the second pose information of the first control device connected to the ultrasonic probe, and combining the coordinate mapping relationship between the ultrasonic cross-sectional image and the puncture plate established in the initial pose of the ultrasonic probe (for example, the ultrasonic probe is orthogonal to the puncture plate).

[0053] In one embodiment, when the ultrasound probe is a 4D (Four-Dimensional) probe, the ultrasound positioning and puncture system may not need to include a navigation device and a first control device. After the ultrasound probe rotates, the ultrasound detection plane does not rotate following the rotation of the ultrasound probe, but rotates following the movement of a driving device (such as a rotating motor) built in the ultrasound probe; the computer device can indirectly deduce the first pose information of the ultrasound probe according to the movement parameters of the driving device; and update the position information of the target in the newly acquired ultrasound cross-sectional image according to the first pose information.

[0054] In one embodiment, when the ultrasound probe is a 4D probe and the ultrasound positioning and puncture system includes a first control device, after the ultrasound probe rotates, the computer device can update the position information of the target in the newly acquired ultrasound cross-sectional image according to the movement parameters of the driving device built in the ultrasound probe and in combination with the second pose information of the first control device.

[0055] In the above ultrasound positioning and puncture system, in response to the rotation operation of the ultrasound probe, during the rotation of the ultrasound probe, the position information of the target in the ultrasound cross-sectional image can be updated in real time according to at least one of the first pose information of the ultrasound probe and the second pose information of the first control device, without the need for manual judgment to identify whether the target is located in the rotated ultrasound cross-sectional image, so as to achieve precise positioning of the puncture position on the lesion site, reduce unnecessary puncture times, and improve the medical experience of patients.

[0056] In some embodiments, the positioning of the position information of the target in the ultrasound cross-sectional image projected by the ultrasound probe includes:

[0057] Establish a first coordinate system corresponding to the ultrasound cross-sectional image, a second coordinate system corresponding to the puncture plate, and a third coordinate system corresponding to the ultrasound detection plane of the ultrasound probe; the first coordinate system takes the vertex of the ultrasound cross-sectional 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 ultrasound detection plane of the ultrasound probe as the origin;

[0058] 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;

[0059] Locate the position information of the target in the ultrasound cross-sectional image according to the first transformation matrix and the second transformation matrix.

[0060] In the embodiments of the present application, both the first transformation matrix and the second transformation matrix are spatial 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.

[0061] In the embodiments of the present application, the position information can indicate the pixel coordinates of the target point in the first coordinate system corresponding to the ultrasonic cross-sectional image.

[0062] In some embodiments, the computer device can obtain the first transformation matrix between the first coordinate system corresponding to the ultrasonic cross-sectional image and the third coordinate system corresponding to the imaging plane of the ultrasonic probe through the probe calibration method; and, the computer device can obtain the second transformation matrix between the second coordinate system corresponding to the puncture plate and the third coordinate system corresponding to the imaging plane of the ultrasonic probe through the calibration or measurement method; according to the first transformation matrix and the second transformation matrix, the coordinate conversion relationship between the first coordinate system and the second coordinate system can be established, so as to realize the positioning of the position information of the target point in the ultrasonic cross-sectional image.

[0063] Exemplarily, the coordinates of the first puncture point to be punctured on the puncture plate in the second coordinate system are , and the pixel coordinates of the target point projected by the first puncture point onto the ultrasonic cross-sectional image are ; where indicates the inverse matrix of the first transformation matrix ; indicates the second transformation matrix.

[0064] In the embodiments of the present application, through the first transformation matrix and the second transformation matrix, the coordinate conversion relationship between the first coordinate system corresponding to the ultrasonic cross-sectional image and the second coordinate system corresponding to the puncture plate can be established, so as to realize the accurate positioning of the target point on the ultrasonic cross-sectional image.

[0065] In some embodiments, the first pose information includes a rotation matrix and a translation matrix; the rotation matrix is used to describe the pose change of the ultrasonic probe; the translation matrix is used to describe the position change of the ultrasonic probe; updating the position information of the target point 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 includes:

[0066] 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.

[0067] In the embodiments of the present application, the rotation matrix can be used to describe the attitude change of the ultrasound probe, that is, whether the ultrasound probe is tilted, deflected, or the angle and direction of torsion. The computer device can determine the direction of the ultrasound probe according to the rotation matrix. For example, whether the ultrasound probe is facing downwards, towards the left, etc., which helps to understand the orientation of the ultrasound probe relative to the internal structure of the patient. Exemplarily, the rotation matrix can be a 3×3 orthogonal matrix, which is used to represent the angles of the ultrasound probe rotating around three coordinate axes.

[0068] In the embodiments 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 according to 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, which is used to describe the displacement of the ultrasound probe along three coordinate axes.

[0069] 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 the translation matrix ; after the ultrasound probe rotates, a method for updating the position information of the target point in the ultrasound cross-sectional image is as follows:

[0070] ; where indicates the inverse matrix of the first transformation matrix ; indicates the second transformation matrix; indicates the position information of the target point; indicates the position information of the puncture point in the second coordinate system.

[0071] In the embodiments of the present application, during the rotation of the ultrasound probe, by obtaining the first pose information of the ultrasound probe in real time and updating the position information of the target point in the ultrasound cross-sectional image according to the first pose information, the mapping relationship between the ultrasound cross-sectional image and the target area (such as a tumor, lesion, etc.) can be ensured to be accurate, achieving precise positioning, reducing errors caused by manual adjustment or visual estimation, and making subsequent puncture or other interventional operations based on the target point safer and more reliable.

[0072] In some embodiments, the first control device includes the 1st joint to the ith joint and i - 1 motion rods; adjacent joints are connected by the motion rods; the i is a positive integer and i is greater than 1; the second pose information includes the DH parameters of the joint coordinate systems of each joint.

[0073] In some embodiments, when the first control device is a robotic arm, the robotic arm can include i joints; adjacent joints are connected by motion rods; the proximal end of the motion rod is joint k, and the distal end is joint k + 1.

[0074] In some embodiments, when the first control device is a stepper, each motion axis of the stepper (e.g., lifting, forward and backward translation, rotation, and tilting, etc.) can be understood as a virtual joint.

[0075] In the embodiments of the present application, a joint may include a rotational joint and a translational joint.

[0076] In the embodiments of the present application, the DH (Denavit-Hartenberg) parameters are standard parameters used in robotics and robotic arm kinematics to describe the relative position and orientation between moving rods (rigid connection segments between various parts or joints of the robotic arm).

[0077] In some embodiments, the DH parameters include a first rotation angle about the Z-axis between the joint coordinate systems of adjacent joints, a first translation distance along the X-axis of the joint coordinate systems of adjacent joints, a second rotation angle about 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.

[0078] In the embodiments of the present application, the Z-axis is defined as the direction along the rotation axis of the moving rod. For a rotational joint, the Z-axis coincides with the joint axis; for a translational joint, the Z-axis indicates the direction of motion.

[0079] In the embodiments of the present application, the X-axis is defined as the common normal direction on the shortest distance between two adjacent Z-axes.

[0080] In some embodiments, updating the position information of the target point based on at least one of the first pose information after rotation of the ultrasound probe and the second pose information of the first control device includes:

[0081] 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 each joint;

[0082] Obtain a second position conversion relationship between the joint coordinate system of the joint connected to the ultrasound probe and the third coordinate system;

[0083] Update the position information of the target point according to the first position conversion relationship, the second position conversion relationship, the first transformation matrix, and the second transformation matrix.

[0084] In some embodiments, the DH parameters define the position transformation relationship between the joint coordinate system of the previous joint and the joint coordinate system of the next joint; based on the DH parameters of each 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, thereby determining the first position transformation 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 transformation matrix between the joint coordinate system of the end of the first control device and the joint (the i-th joint) 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 transformation matrix represents the position transformation relationship between the two coordinate systems, that is, the second position transformation relationship; based on 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 point in the ultrasonic cross-sectional image can be updated in real time.

[0085] Exemplarily, a method for updating the position information of the target point is as follows:

[0086] ; where indicates the inverse matrix of the first transformation matrix ; indicates the second transformation matrix; indicates the position information of the target point; indicates the position information of the puncture point in the second coordinate system; indicates the first position transformation relationship; indicates the second position transformation relationship.

[0087] In some embodiments, the determining the first position transformation 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 each joint includes:

[0088] According to the first rotation angle, the second rotation angle, the first translation distance, and the second translation distance, sequentially determine the first transformation matrix between the joint coordinate system of the previous joint and the joint coordinate system of the next joint;

[0089] According to the first transformation matrices from the first to the i-1-th, determine the first position transformation relationship between the joint coordinate system of the first joint and the joint coordinate system of the i-th joint.

[0090] In some embodiments, the electronic device can determine the first transformation matrix between the joint coordinate system of the k-th joint and the joint coordinate system of the k + 1-th joint according to the DH parameter method; multiplying the first transformation matrices from the first to the i-1-th can gradually transform from the first joint coordinate system to the i-th joint coordinate system, thereby obtaining the position and attitude of the entire first control device.

[0091] Exemplarily, a method for determining the first position conversion relationship is as follows:

[0092] ; wherein, indicates the first position conversion relationship; indicates the first conversion matrix of the 1st; indicates the first conversion matrix of the 2nd; indicates the first conversion matrix of the i-th.

[0093] In the embodiments of the present application, during the rotation of the ultrasound probe, by acquiring the second pose information of the ultrasound probe in real time and according to the second pose information, the position information of the target point in the ultrasound cross-sectional image can be updated in real time, so as to ensure that the mapping relationship between the ultrasound cross-sectional image and the target area (such as tumor, lesion area, etc.) is accurate, achieve precise positioning, reduce errors caused by manual adjustment or visual estimation, and make subsequent puncture or other interventional operations based on the target point safer and more reliable.

[0094] 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 driving device built in the ultrasound probe.

[0095] In some embodiments, the ultrasound detection plane starts from the position where the probe emits and receives ultrasonic waves; the ultrasound detection plane expands outward along a fan-shaped area (or called a fan surface). Exemplarily, when the ultrasound probe is a transrectal ultrasound probe, the ultrasound detection plane rotates following the rotation of the ultrasound probe; when the ultrasound probe is a 4D ultrasound 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 cross-sectional images of each ultrasound detection plane will be displayed in real time on the display screen of the computer device.

[0096] In the embodiments of the present application, through the rotation of the ultrasound probe, the ultrasound detection plane continuously scans new areas, generates a series of continuously changing ultrasound slice images, which can be combined to form a more complete three-dimensional view, facilitating medical staff to visually observe tumors, lesion sites, etc.

[0097] In some embodiments, the ultrasound positioning and 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 when the processor runs the computer program, it also performs the following steps:

[0098] Taking the updated position information of the target point in the ultrasound cross-sectional image as the target puncture position, and controlling the interventional puncture device to puncture the target puncture position.

[0099] Exemplarily, the interventional puncture device may include, but is not limited to, an ablation needle, a biopsy needle, etc.

[0100] In some embodiments, the interventional puncture device can be controlled to enter the lesion site manually, and the operation strategy can be adjusted immediately according to the actual situation; or the interventional puncture device can be assisted by a second control device (such as a robotic arm), thereby significantly improving the accuracy and repeatability of puncture and reducing human errors and risks.

[0101] In the embodiments of the present application, the following provides specific examples in combination with any of the above embodiments:

[0102] Specific Example 1: Figure 3 It is a schematic flowchart of a computer device implementing ultrasonic positioning shown exemplarily; as Figure 3 shown, when the processor in the computer device executes the computer program, the following steps are implemented:

[0103] S301, locate the position information of the target point in the ultrasonic cross-sectional image projected by the ultrasonic probe.

[0104] In an optional embodiment, a first coordinate system corresponding to the ultrasonic cross-sectional 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 cross-sectional 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 for the position conversion between each pixel point in the first coordinate system and the third coordinate system is obtained by means of probe calibration; the second transformation matrix for the position conversion between the second coordinate system and the third coordinate system is obtained by physical measurement or a calibration tool; the coordinate data of the center of each puncture point on the puncture plate in the second coordinate system is measured, and according to the first transformation matrix and the second transformation matrix, the position information of the target point is located in the ultrasonic cross-sectional image; the target point is the mapping point of the puncture point on the puncture plate projected onto the ultrasonic cross-sectional image.

[0105] S302, in response to the rotation of the ultrasonic probe, obtain 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.

[0106] In an alternative embodiment, the first pose information includes a rotation matrix and a translation matrix; the rotation matrix is used to describe the attitude 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 pose information of the ultrasound probe, it proceeds to S303; the first control device includes the first joint to the i-th joint and i-1 moving rods; adjacent joints are connected by moving rods; i is a positive integer and i>1; the second pose information includes the DH parameters of the joint coordinate systems of the respective joints; when the computer device obtains the second pose information of the first control device, it can proceed to S304.

[0107] S303. Update the position information of the target point according to the rotation matrix, the translation matrix, the first transformation matrix, and the second transformation matrix.

[0108] S304. Update the position information of the target point according to the DH parameters of the joint coordinate systems of the respective joints.

[0109] In an alternative embodiment, according to the DH parameters of the joint coordinate systems of the respective joints, determine the first position conversion relationship between the joint coordinate system of the first joint and the joint coordinate system of the i-th joint; obtain the second position conversion relationship between the joint coordinate system of the joint connected to the ultrasound probe and the third coordinate system; update the position information of the target point according to the first position conversion relationship, the second position conversion relationship, the first transformation matrix, and the second transformation matrix.

[0110] In the above ultrasonic positioning and puncture system, in response to the rotation operation of the ultrasound probe, during the rotation of the ultrasound probe, the position information of the target point in the ultrasonic cross-sectional image can be updated in real time according to at least one of the first pose information of the ultrasound probe and the second pose information of the first control device, without the need for manual judgment to identify whether the target point is located in the rotated ultrasonic cross-sectional image, thereby achieving precise positioning of the puncture position on the lesion site, reducing unnecessary puncture times, and improving the medical experience of the patient.

[0111] It should be understood that although the steps in the flowcharts involved in the above-described embodiments are shown in sequence according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-described embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least a part of other steps or steps in other steps.

[0112] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structural diagram may be as shown in Figure 4 . 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. The wireless manner can be implemented through WIFI, a mobile cellular network, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements an image processing method. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer covering the display screen, or a button, a trackball, or a touchpad provided on the computer device housing, or an external keyboard, touchpad, or mouse, etc.

[0113] Those skilled in the art can understand that Figure 4 the structure shown in is only a block diagram of some structures 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 some components, or have different component arrangements.

[0114] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by the processor, it implements the steps in the above method embodiments.

[0115] In one embodiment, a computer program product is provided, including a computer program. When the computer program is executed by the processor, it implements the steps executed by the processor of the computer device in any one of the above.

[0116] 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 for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or fully authorized by all parties.

[0117] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. 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 methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memories. 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. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in the present application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in the present application can be general-purpose processors, central processors, graphics processors, digital signal processors, programmable logic devices, data processing logics based on quantum computing, etc., without limitation.

[0118] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, 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, it should be considered as the scope described in this specification.

[0119] The above-described embodiments merely represent several implementation manners of the present application. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the patent scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended 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 located in the ultrasonic section image projected by the ultrasonic probe; the target point is a mapping point of the puncture point on the puncture plate projected to the ultrasonic section image; 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; Locating the position information of the target point in the ultrasound section image according to the first transformation matrix and the second transformation matrix; 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 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.

3. The system according to claim 1, 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.

4. The system according to claim 3, 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.

5. The system according to claim 4, characterized in that 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.

6. The system according to claim 5, 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.

7. The system according to claim 1, 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.

8. The system according to claim 3, 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.

9. 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 8 are implemented.

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