Ultrasonic monitoring and guiding method in follicle puncture ovum collection process

Abstract

The invention relates to the technical field of precise operation positioning, in particular to an ultrasonic monitoring and guiding method in a follicle puncture ovum taking process, which comprises the following steps of: analyzing a movement stability condition and a path deviation condition of an ultrasonic probe in a movement process to obtain a path deviation rate, and utilizing distribution characteristics of gray level and gradient level in an ultrasonic image to obtain a path deviation rate; the air interference degree of the ultrasonic image is obtained according to the path deviation rate, the echo signal intensity difference of the ultrasonic probe under the adjacent frames and the tissue contrast difference of the ultrasonic image, the information misunderstanding degree of the ultrasonic image is obtained through the path deviation rate and the air interference degree, and the attenuation characteristic of the ultrasonic echo signal is combined to obtain the information misunderstanding degree of the ultrasonic image. Gain compensation factors of echo signals of the ultrasonic probe are obtained, the echo signals are enhanced, and path guiding is conducted on the follicle puncture ovum taking process through an ultrasonic image obtained after the echo signals are enhanced. According to the method, the enhancement effect on the ultrasonic image in the follicle puncture process is effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of precise surgical positioning, and in particular to an ultrasonic monitoring and guiding method during follicle puncture and egg retrieval. Background Art

[0002] Follicular puncture and egg retrieval technology is one of the core links of assisted reproductive technology (ART) and is widely used in reproductive medicine fields such as in vitro fertilization-embryo transfer (IVF-ET). This technology uses ultrasound guidance to obtain oocytes from mature follicles in the ovaries using a puncture needle for subsequent embryo culture and transplantation. Ultrasound monitoring and guidance play a vital role in the process of follicular puncture and egg retrieval. Its accuracy and safety directly affect the efficiency of oocyte acquisition and the patient's postoperative recovery.

[0003] Although current ultrasound monitoring and guidance technology has been widely used in the process of follicular puncture and egg retrieval, there are still some shortcomings. For example, existing ultrasound equipment has limitations in resolution and image quality, which may lead to insufficient positioning accuracy of tiny follicles and affect the efficiency of oocyte acquisition; existing technology cannot effectively compensate for signal attenuation, resulting in the shallow layer being too bright and the deep layer being too dark, and the image brightness is significantly uneven, affecting the positioning and observation of follicles; and when the puncture needle path changes dynamically, the existing technology is difficult to quickly adjust the gain, resulting in reduced image resolution in the puncture area, affecting the safety and efficiency of the operation. Summary of the invention

[0004] The invention provides an ultrasonic monitoring and guiding method in the process of follicle puncture and egg retrieval to solve the existing problems.

[0005] The ultrasonic monitoring and guidance method during follicle puncture and egg retrieval of the present invention adopts the following technical scheme: An embodiment of the present invention provides an ultrasound monitoring and guidance method during follicle puncture and egg retrieval, the method comprising the following steps: Obtain ultrasound images and pressure data during follicle puncture and egg retrieval using a transvaginal ultrasound probe; Based on the pressure data of the ultrasonic probe in the corresponding time period of any two adjacent frames, the moving stability of the ultrasonic probe during the moving process is analyzed, and combined with the deviation of the path of the ultrasonic probe during the moving process, the path deviation rate of the ultrasonic probe in any time period is obtained; The distribution characteristics of human tissue in ultrasound images based on grayscale level and gradient level are used as the tissue contrast of ultrasound images, and the comprehensive results of the difference in echo signal intensity of the ultrasound probe in adjacent frames and the difference in tissue contrast of ultrasound images are used as the air interference degree of ultrasound images. The degree of misunderstanding when extracting anatomical information from ultrasound images of corresponding frames is analyzed by path deviation rate and air interference degree, and the information misunderstanding degree of ultrasound images is obtained. Analyze the attenuation characteristics of the ultrasonic echo signal during the operation; obtain the gain compensation factor of the echo signal of the ultrasonic probe and enhance the echo signal through the information misunderstanding degree of the ultrasonic image and the attenuation characteristics of the ultrasonic echo signal of the ultrasonic probe; The ultrasonic image obtained by enhancing the echo signal is used to guide the path of the follicle puncture and egg retrieval process.

[0006] Furthermore, the specific method for obtaining the path deviation rate of the ultrasound probe in any time period is: Obtain the pressure data collected by the ultrasound probe in the time period corresponding to the ultrasound images between any two adjacent frames, and analyze the movement stability of the ultrasound probe in each time period based on the fluctuation difference of the pressure data in different time periods; The comprehensive result of the difference between the planned path and the actual moving path of the ultrasound probe in any time period and the moving stability of the ultrasound probe is taken as the path deviation of the ultrasound probe in the time period.

[0007] Furthermore, the method of using the distribution characteristics of human tissue based on gray level and gradient level in the ultrasound image as the tissue contrast of the ultrasound image includes the following specific methods: For any frame of ultrasound image, the tissue contrast of the ultrasound image is analyzed by the proportion of low gray value pixels in the ultrasound image and the gradient level of edge pixels in the ultrasound image. The tissue contrast of the ultrasound image is negatively correlated with the proportion of low gray value pixels in the ultrasound image, and positively correlated with the gradient level of edge pixels in the ultrasound image. The low gray value pixels are those with gray values ​​between Pixels within the range, where It is the preset gray value parameter.

[0008] Furthermore, the method of taking the comprehensive result of the difference in the echo signal strength of the ultrasound probe in adjacent frames and the difference in the tissue contrast of the ultrasound image as the air interference degree of the ultrasound image includes the following specific methods: The average echo signal strength received by the ultrasound probe when collecting each frame of ultrasound image during the operation is obtained, and the air interference degree of the ultrasound image is obtained according to the corresponding differences in tissue contrast and average echo signal strength between two adjacent frames of ultrasound images in any time period. The corresponding differences in tissue contrast and average echo signal strength between two adjacent frames of ultrasound images are positively correlated with the air interference degree.

[0009] Furthermore, the method of analyzing the degree of misunderstanding when extracting anatomical information from an ultrasound image of a corresponding frame through the path deviation rate and the air interference degree to obtain the information misunderstanding degree of the ultrasound image includes the following specific methods: The information misinterpretation degree of the ultrasound image is acquired according to the path deviation rate and the air interference degree of the ultrasound probe, and the information misinterpretation degree is positively correlated with both the path deviation rate and the air interference degree.

[0010] Furthermore, the analysis of the attenuation characteristics of the ultrasonic echo signal during the operation includes the following specific methods: The depth information of the ultrasonic probe and the arrival time of the ultrasonic echo signal are obtained when each frame of the ultrasonic image is collected, and the depth information and the arrival time are respectively curve-fitted by the least square method to obtain the depth change curve of the ultrasonic probe and the echo time curve of the ultrasonic signal during the operation; the attenuation trend parameters of the echo signal of the ultrasonic probe during the operation are obtained by using the depth change curve and the echo time curve.

[0011] Furthermore, the method of obtaining a gain compensation factor for the echo signal of the ultrasound probe and enhancing the echo signal by using the information misinterpretation degree of the ultrasound image and the attenuation characteristics of the ultrasound echo signal of the ultrasound probe includes the following specific methods: According to the information misunderstanding degree of the ultrasonic image and the attenuation characteristics of the ultrasonic echo signal of the ultrasonic probe, the gain compensation factor of the echo signal of the ultrasonic probe is calculated, and the ultrasonic echo signal is enhanced using the gain compensation factor to obtain a corresponding ultrasonic image, wherein the gain compensation factor of the echo signal of the ultrasonic probe is positively correlated with the information misunderstanding degree and the attenuation characteristics.

[0012] Furthermore, the specific calculation method of the air interference degree is: ; in, For the The air interference degree of the last frame of ultrasound image in a time period; For the The tissue contrast of the last frame of ultrasound image in the time period, For the The tissue contrast of the first frame of ultrasound image in a time period; For ultrasound probe The average echo signal intensity when the last frame of ultrasound image is collected in a time period; For ultrasound probe The average echo signal strength when the first frame of ultrasound image is collected in a time period.

[0013] Furthermore, the specific calculation method of the attenuation trend parameter is: ; in, is the attenuation trend parameter of the echo signal of the ultrasonic probe, Indicates obtaining a mean square error between the depth variation curve and the echo time curve; Represents the average slope value of the ultrasound echo time curve.

[0014] Furthermore, the specific calculation method of the gain compensation factor is: ; in, To collect The gain compensation factor of the echo signal when the last frame of ultrasound image is obtained in a time period; It represents the attenuation trend of the echo signal of the ultrasonic probe; For the The information misunderstanding degree of the last frame of ultrasound image in a time period; is the hyperbolic tangent function.

[0015] The beneficial effects of the technical solution of the present invention are: by real-time analysis of the pressure data and path deviation of the ultrasound probe, the movement stability is dynamically evaluated, and based on the tissue contrast difference and the echo signal intensity change, the impact of air interference on the image is quantified, and the anatomical structure misjudgment caused by bubbles or tissue overlap is reduced, so that the attenuation signal is subsequently enhanced through dynamic gain compensation, and the clarity of the development of deep follicles or low-echo areas is improved, thereby effectively improving the enhancement effect of the ultrasound image during follicle puncture and egg retrieval. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1This is a flow chart of the steps of an ultrasonic monitoring and guiding method during follicle puncture and egg retrieval according to the present invention; Figure 2 This is an example of follicle puncture and egg retrieval; Figure 3 is an example diagram of an edge image of an ultrasound image; Figure 4 It is a schematic diagram of depth variation curve and echo time curve; Figure 5 is an example diagram of the first ultrasonic image frame in adjacent frames; Figure 6 This is an example of the last ultrasound image in adjacent frames. DETAILED DESCRIPTION

[0018] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the following is a detailed description of the ultrasonic monitoring and guidance method in the process of follicular puncture and egg retrieval proposed by the present invention, its specific implementation method, structure, characteristics and effects as follows in combination with the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" does not necessarily refer to the same embodiment. In addition, specific features, structures or characteristics in one or more embodiments may be combined in any suitable form.

[0019] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0020] The specific scheme of the ultrasonic monitoring and guiding method during follicle puncture and egg retrieval provided by the present invention is described in detail below with reference to the accompanying drawings.

[0021] See also Figure 1 , which shows a flowchart of the steps of an ultrasound monitoring and guidance method during follicle puncture and egg retrieval provided by an embodiment of the present invention, the method comprising the following steps: Step S001: Acquire ultrasound images, pressure data, and path information during follicle puncture and egg retrieval through a transvaginal ultrasound probe.

[0022] It should be noted that the implementation process of follicular puncture and egg retrieval technology relies on real-time ultrasound monitoring and guidance, mainly through transvaginal ultrasound (Transvaginal Ultrasound, TVUS) to locate the ovarian position in order to accurately capture the follicle target; the main operating steps are: in the follicle monitoring stage, observe the development of the follicles through ultrasound, judge the timing of follicle maturation, and formulate a puncture plan based on the patient's ovarian position; insert the transvaginal ultrasound probe into the patient's vagina to display the image of the ovary, i.e., the follicle, in real time; through the guidance device on the puncture needle catheter, accurately insert the needle tip into the target follicle cavity along the path guided by the ultrasound image, and use a negative pressure suction device to collect oocytes (such as Figure 2 Shown is an example of follicle puncture and egg retrieval); Finally, an ultrasound examination is performed to confirm that there is no abnormality at the puncture site, and the intraoperative situation is recorded to complete the postoperative treatment.

[0023] Specifically, in order to implement the ultrasonic monitoring and guidance method during follicular puncture and egg retrieval proposed in this embodiment, it is first necessary to collect ultrasonic images and pressure data during follicular puncture and egg retrieval. The specific process is as follows: First, during the follicle puncture and egg retrieval process, a high-frequency ultrasound probe (usually 5-10MHz) of a transvaginal ultrasound device is placed close to the patient's ovaries to collect continuous frames of ultrasound image data containing the position and angle of the probe.

[0024] It should be noted that the ultrasound equipment will record the imaging information of the ovaries and follicles in real time, including the anatomical position and morphology of the ovaries, the size, number and distribution of the follicles, the puncture needle path and its real-time dynamics.

[0025] Then, during the operation, the pressure sensor of the ultrasound probe is used to monitor the pressure data when the ultrasound probe contacts the patient's body surface or tissue during the movement.

[0026] Finally, the doctor's planned path of the ultrasound probe before the operation is recorded, and the actual movement path of the ultrasound probe is obtained through the sensor during the operation.

[0027] It should be noted that when obtaining the actual moving path of the ultrasonic probe through the sensor, the actual moving path can be recorded by using an electromagnetic field sensor, or by measuring the motion trajectory of the probe through an accelerometer, gyroscope, and magnetometer (IMU). In the embodiment of the present invention, the electromagnetic field sensor is selected to collect the actual moving path of the ultrasonic probe.

[0028] In addition, current ultrasound equipment usually has data storage capabilities, so key images and video data during the operation can be stored and recorded for postoperative analysis.

[0029] At this point, the ultrasonic image during follicle puncture and egg retrieval is obtained by the above method.

[0030] Step S002: Analyze the movement stability of the ultrasonic probe during movement based on the pressure data of the ultrasonic probe, and combine the deviation of the path of the ultrasonic probe during movement to obtain the path deviation rate of the ultrasonic probe in any time period.

[0031] It should be noted that during the puncture and egg retrieval process, the accuracy of the movement path of the ultrasound probe is analyzed. Probe path deviation will lead to loss of continuity of the target tissue, and the image may jump or be interrupted, affecting the complete observation of the anatomical structure.

[0032] Specifically, first, the pressure data collected by the ultrasound probe in the time period corresponding to the ultrasound images between any two adjacent frames is obtained, and the movement stability of the ultrasound probe in each time period is analyzed based on the difference in fluctuations of the pressure data in different time periods.

[0033] As an embodiment, the specific calculation method of the moving stability of the ultrasonic probe is: ; in, For the The movement stability of the ultrasound probe in a certain period of time; For the The variance of the pressure data in the time period, For the The variance of the pressure data in a time period.

[0034] It should be noted that the moving stability of the ultrasonic probe reflects the ultrasonic probe. If the pressure of the ultrasonic probe suddenly increases or decreases in a certain direction, it may mean that the probe has deviated. The sudden increase or decrease in pressure will make the fluctuation variance of the monitoring curve larger, that is, Larger; It represents the pressure change between the ultrasound probe and the internal tissue during the movement of the image in the previous frame; The larger the product of , the more stable the pressure change between the ultrasound probe and the internal tissue in the current frame image, and the smaller the difference from the pressure change in the previous frame image, which means that the movement stability of the ultrasound probe is better in the process of moving to the frame image. Larger.

[0035] Then, the comprehensive result of the difference between the planned path and the actual moving path of the ultrasound probe in any time period and the moving stability of the ultrasound probe is taken as the path deviation of the ultrasound probe in the time period.

[0036] As an embodiment, a specific method for calculating the path deviation rate of the ultrasound probe in any time period is as follows: ; in, For the The path deviation rate of the ultrasound probe in each time period; Indicates Coordinate data corresponding to the actual moving path of the ultrasound probe in each time period; Indicates Coordinate data corresponding to the planned path of the ultrasound probe in each time period; Indicates The Euclidean distance between the corresponding coordinate data of the actual moving path of the ultrasound probe and the planned path in a time period.

[0037] It should be noted that a stable image usually means that the probe movement path is stable. If the image jumps frequently or fluctuates irregularly during movement, it may indicate that the probe path has deviated. The probe path deviation may cause the ultrasound beam to fail to be perpendicular to the target tissue, thereby reducing the quality of the echo signal and forming a blurred image or structural distortion; that is, The larger the value of is, the greater the path deviation of the ultrasonic probe is. The path deviation may cause the ultrasound image to jump frequently when the ultrasound probe moves. If the ultrasound probe moves unstably, the interference between the ultrasound probe and the air inside the abdominal cavity will further lead to poor quality of the ultrasound image and unclear observation of the internal structure and tissue, further affecting the safety of the operation.

[0038] So far, the path deviation rate of the ultrasound probe in any time period is obtained through the above method.

[0039] Step S003: Utilize the distribution characteristics of human tissue in the ultrasound image based on grayscale level and gradient level as the tissue contrast of the ultrasound image, and take the comprehensive result of the difference in echo signal intensity of the ultrasound probe in adjacent frames and the difference in tissue contrast of the ultrasound image as the air interference degree of the ultrasound image. Analyze the degree of misunderstanding when extracting anatomical information from the ultrasound image of the corresponding frame through the path deviation rate and air interference degree to obtain the information misunderstanding degree of the ultrasound image.

[0040] It should be noted that by extracting features from the ultrasound images during the puncture and egg retrieval process, we analyze whether the quality of the ultrasound image is disturbed by the gas inside the abdominal cavity during the actual operation based on the changes in the extracted features. Since the ultrasound probe is in an unstable moving state during movement, the air interference will be greater; the gas in the abdominal cavity (such as air or carbon dioxide) has obvious acoustic discontinuity because the acoustic impedance of the gas is very different from that of human tissues and fluids (such as ovaries, ascites, etc.); the gas is highly reflective to the propagation of ultrasound waves, which makes it impossible for ultrasound waves to effectively penetrate the gas area, thus forming an "acoustic shadow" or "black area" on the ultrasound image.

[0041] Specifically, first, for any frame of ultrasound image, the percentage of low gray value pixels in the ultrasound image and the gradient level of edge pixels in the ultrasound image (such as Figure 3 , which is an example of an edge image of an ultrasound image, analyzes the tissue contrast of the ultrasound image. The tissue contrast of the ultrasound image is negatively correlated with the proportion of low grayscale value pixels in the ultrasound image, and positively correlated with the gradient level of edge pixels in the ultrasound image. The low grayscale value pixels are those with grayscale values ​​between Pixels within the range, where It is the preset gray value parameter.

[0042] As an embodiment, the method for obtaining the gradient level of edge pixels in the ultrasound image is: using the Canny edge detection algorithm to perform edge detection on the ultrasound image, and obtaining the edge image corresponding to the ultrasound image and the edge pixels and gradient values ​​of the edge pixels in the edge image.

[0043] It should be noted that the gray value parameter is preset as 50 according to experience in the embodiment of the present invention, and can be adjusted according to actual conditions, and is not specifically limited in the embodiment of the present invention.

[0044] As an embodiment, a specific method for calculating the tissue contrast of any ultrasound image is as follows: ; in, is the tissue contrast of ultrasound images, is the percentage of low gray value pixels in the ultrasound image. is the average gradient value of edge pixels in the ultrasound image.

[0045] It should be noted that the acoustic shadow effect caused by abdominal gas will lead to obvious black areas in the image, that is, the proportion of low gray value pixels will increase significantly, that is, the U value will be higher; and the interference will cause the gradient intensity in the ultrasound image to decrease, that is The value of will decrease; The larger the product of , the more the above pixel change trend develops in the expected direction, that is, when the ultrasound probe moves to the ultrasound image of the current frame, the contrast of the internal tissue displayed in the ultrasound image is higher; ultrasound is a mechanical wave that requires a medium to propagate. Human tissue (such as liquid, muscle, fat, etc.) is a good ultrasound propagation medium with a small acoustic impedance and can effectively transfer energy; gas interference will block the propagation path of ultrasound, causing the echo signal of deep organs (such as the pancreas and retroperitoneal structures) to be attenuated or even completely disappear, resulting in blurred images or failure to display.

[0046] Then, the average echo signal strength received by the ultrasound probe when collecting each frame of ultrasound image during the operation is obtained, and the air interference degree of the ultrasound image is obtained according to the corresponding differences in tissue contrast and average echo signal strength between two adjacent frames of ultrasound images in any time period. The corresponding differences in tissue contrast and average echo signal strength between two adjacent frames of ultrasound images are positively correlated with the air interference degree.

[0047] As an embodiment, the specific calculation method of the air interference degree is: ; in, For the The air interference degree of the last frame of ultrasound image in a time period; For the The tissue contrast of the last frame of ultrasound image in the time period, For the The tissue contrast of the first frame of ultrasound image in a time period; For ultrasound probe The average echo signal intensity when the last frame of ultrasound image is collected in a time period; For ultrasound probe The average echo signal strength when the first frame of ultrasound image is collected in a time period.

[0048] It should be noted that if the contrast of the internal tissue in the adjacent frame images is attenuated, and accompanied by the attenuation of the ultrasonic echo signal intensity, it can be explained that the current frame image may be subject to greater air interference, that is, The larger the product of , the more likely the current frame image is to be affected by greater air interference.

[0049] Finally, the information misinterpretation degree of the ultrasound image is obtained according to the path deviation rate and the air interference degree of the ultrasound probe, and the information misinterpretation degree is positively correlated with both the path deviation rate and the air interference degree.

[0050] As an embodiment, a specific method for calculating the information misinterpretation degree of each frame of the ultrasound image is as follows: ; in, For the The information misunderstanding degree of the last frame of ultrasound image in the time period is For the The path deviation rate of the ultrasound probe in each time period, For the The air interference degree of the last frame of ultrasound image in a time period.

[0051] It should be noted that the information misinterpretation is used to describe the degree of misinterpretation when extracting anatomical information carried in ultrasound images. The strong reflection of air will weaken the echo intensity of subsequent tissue layers, especially when the movement of the ultrasound probe is unstable, the air interference will be more obvious. In the calculation method of information misinterpretation, This reflects that when the ultrasound probe moves in an unstable state, the interference of air in the abdominal cavity will further lead to poor quality of the ultrasound image. The misunderstanding of anatomical information in the ultrasound image will be higher, which is not conducive to monitoring and guiding the operation process. Therefore, the information misunderstanding can be used as a data basis for improving the quality of ultrasound images.

[0052] So far, the information misinterpretation degree of the ultrasound image is obtained through the above method.

[0053] Step S004: Analyze the attenuation characteristics of the ultrasonic echo signal during the operation; obtain the gain compensation factor of the echo signal of the ultrasonic probe through the information misinterpretation degree of the ultrasonic image and the attenuation characteristics of the ultrasonic echo signal of the ultrasonic probe.

[0054] It should be noted that when adjusting the quality of ultrasound images during egg retrieval, it is necessary to balance the relationship between depth change and image quality, because the ultrasound signal gradually attenuates as the depth increases when penetrating the tissue. If the gain fails to balance the impact of depth change, it may cause uneven brightness in the imaging area, thus affecting the image quality and the accuracy of diagnosis.

[0055] Specifically, first, the depth information of the ultrasonic probe and the arrival time of the ultrasonic echo signal are obtained when each frame of the ultrasonic image is collected, and the depth information and the arrival time are respectively curve-fitted by the least square method to obtain the depth change curve of the ultrasonic probe during the operation and the echo time curve of the ultrasonic signal; the attenuation trend parameters (such as the echo time curve) of the echo signal of the ultrasonic probe during the operation are obtained by using the depth change curve and the echo time curve. Figure 4 Shown is a schematic diagram of the depth change curve and the echo time curve).

[0056] As an embodiment, the specific calculation method of the attenuation trend parameter is: ; in, is the attenuation trend parameter of the echo signal of the ultrasonic probe, Indicates obtaining a mean square error between the depth variation curve and the echo time curve; Represents the average slope value of the ultrasound echo time curve.

[0057] It should be noted that Used to describe the attenuation characteristics of ultrasonic echo signals during surgery. The smaller the value, the stronger the attenuation of the ultrasonic signal as the depth increases when the ultrasonic signal penetrates the tissue; and the increase in the echo time of the signal also means that the time of the ultrasonic signal in the echo process is greatly extended; The larger the product of , the more obvious the attenuation trend of the echo signal of the ultrasound probe is; the more obvious the attenuation trend of the echo signal of the ultrasound probe is, the more deep signals are attenuated during the operation, and a higher gain compensation is required to effectively amplify the echo signal strength of the ultrasound probe, making the ultrasound imaging more obvious; that is, it is necessary to balance the relationship between the adjustment requirements of ultrasound imaging and the actual ultrasound movement depth, so as to solve the problem of uneven brightness caused by depth and balance the signal strength of shallow and deep layers.

[0058] It should also be noted that in the process of calculating the mean square error, the ordinates of the two curves need to be normalized to unify the dimensions before calculation.

[0059] Then, according to the information misinterpretation degree of the ultrasonic image and the attenuation characteristics of the ultrasonic echo signal of the ultrasonic probe, the gain compensation factor of the echo signal of the ultrasonic probe is calculated, and the ultrasonic echo signal is enhanced using the gain compensation factor to obtain a corresponding ultrasonic image, wherein the gain compensation factor of the echo signal of the ultrasonic probe is positively correlated with the information misinterpretation degree and the attenuation characteristics.

[0060] It should be noted that gain refers to the process by which ultrasound equipment amplifies or attenuates the intensity of the received echo signal. By adjusting the gain, the ultrasound image can be made brighter or darker, thereby helping doctors to more clearly observe the anatomical structure and tissue characteristics of the target area; shallow tissues usually receive stronger echo signals, while deep tissues receive weaker echo signals. Therefore, if the gain is not compensated for depth, the shallow area will be too bright and the details may be submerged; the deep area will be too dark and important tissue information may not be displayed.

[0061] In a specific embodiment of the present invention, a specific method for obtaining the gain compensation factor of the echo signal of the ultrasonic probe is: ; in, To collect The gain compensation factor of the echo signal when the last frame of ultrasound image is obtained in a time period; It represents the attenuation trend of the echo signal of the ultrasonic probe; For the The information misunderstanding degree of the last frame of ultrasound image in a time period; is the hyperbolic tangent function.

[0062] It should be noted that It represents the Euclidean norm of the two, and its purpose is to balance the relationship between the adjustment requirements of ultrasound imaging and the actual ultrasound moving depth; the larger the value, the greater the compensation for ultrasound signal attenuation; that is, during the adjustment process, ensure that the brightness distribution of the image from shallow to deep layers is uniform, and avoid abnormal brightness in certain depth areas. And the signal strength of the deep layer.

[0063] It should be noted that if Figure 5 is an example of the first ultrasound image in adjacent frames, and Figure 6 This is an example of the last ultrasound image in the adjacent frames. As the depth of the ultrasound probe increases during the puncture process, the gain can compensate for the attenuation of the ultrasound echo signal during the depth increase, thereby improving the quality of the ultrasound image. The gain compensation coefficient (TGC gain compensation coefficient) obtained above is then multiplied by the initial gain compensation coefficient to obtain the gain compensation coefficient that needs to be adjusted. This coefficient is used as an important parameter in the ultrasound device to appropriately enhance or suppress the tissue echo signals at different depths during the operation, thereby improving the visualization of the target tissue. By adjusting the intensity of the ultrasound device echo signal, the brightness and clarity of the image are optimized. Reasonable gain adjustment is of great significance for clearly displaying the target tissue and compensating for the attenuation of deep signals.

[0064] So far, the echo signal of the ultrasonic probe is enhanced by the above method.

[0065] Step S005: The ultrasonic image obtained by enhancing the echo signal is used to guide the path of the follicle puncture and egg retrieval process.

[0066] Based on the sensor, the position and posture information of the target area is obtained in real time, and the probe emission angle is dynamically adjusted through the robotic arm control system to ensure that the sound beam is perpendicular to the surface of the follicle and obtain the optimal echo signal.

[0067] By alternately emitting ultrasonic waves of different frequencies and combining with a real-time image reconstruction algorithm, the position changes of the follicles during the puncture process can be dynamically monitored, providing a continuous basis for path correction and achieving path guidance for the follicle puncture and egg retrieval process.

[0068] At this point, this embodiment is completed.

[0069] It should be noted that the The model is only used to represent negative correlation and constrain the output of the model to be in In the specific implementation, it can be replaced by other models with the same purpose. This embodiment is only based on The model is described as an example without any specific limitation. is the input to the model.

[0070] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for ultrasonic monitoring and guidance during follicular puncture and egg retrieval, characterized in that: The method comprises the following steps: Obtain ultrasound images and pressure data during follicle puncture and egg retrieval using a transvaginal ultrasound probe; Based on the pressure data of the ultrasonic probe in the corresponding time period of any two adjacent frames, the moving stability of the ultrasonic probe during the moving process is analyzed, and combined with the deviation of the path of the ultrasonic probe during the moving process, the path deviation rate of the ultrasonic probe in any time period is obtained; The distribution characteristics of human tissue in ultrasound images based on grayscale level and gradient level are used as the tissue contrast of ultrasound images, and the comprehensive results of the difference in echo signal intensity of the ultrasound probe in adjacent frames and the difference in tissue contrast of ultrasound images are used as the air interference degree of ultrasound images. The degree of misunderstanding when extracting anatomical information from ultrasound images of corresponding frames is analyzed by path deviation rate and air interference degree, and the information misunderstanding degree of ultrasound images is obtained. Analyze the attenuation characteristics of the ultrasonic echo signal during the operation; obtain the gain compensation factor of the echo signal of the ultrasonic probe and enhance the echo signal through the information misunderstanding degree of the ultrasonic image and the attenuation characteristics of the ultrasonic echo signal of the ultrasonic probe; The ultrasonic image obtained by enhancing the echo signal is used to guide the path of the follicle puncture and egg retrieval process.

2. According to claim 1, a method for ultrasonic monitoring and guidance during follicle puncture and egg retrieval, characterized in that: The specific method for obtaining the path deviation rate of the ultrasonic probe in any time period is: Obtain the pressure data collected by the ultrasound probe in the time period corresponding to the ultrasound images between any two adjacent frames, and analyze the movement stability of the ultrasound probe in each time period based on the fluctuation difference of the pressure data in different time periods; The comprehensive result of the difference between the planned path and the actual moving path of the ultrasound probe in any time period and the moving stability of the ultrasound probe is taken as the path deviation of the ultrasound probe in the time period.

3. The method for ultrasonic monitoring and guidance during follicle puncture and egg retrieval according to claim 1, characterized in that: The specific method of using the distribution characteristics of human tissue based on gray level and gradient level in the ultrasound image as the tissue contrast of the ultrasound image includes: For any frame of ultrasound image, the tissue contrast of the ultrasound image is analyzed by the proportion of low gray value pixels in the ultrasound image and the gradient level of edge pixels in the ultrasound image. The tissue contrast of the ultrasound image is negatively correlated with the proportion of low gray value pixels in the ultrasound image, and positively correlated with the gradient level of edge pixels in the ultrasound image. The low gray value pixels are those with gray values ​​between Pixels within the range, where It is the preset gray value parameter.

4. The method for ultrasonic monitoring and guidance during follicle puncture and egg retrieval according to claim 1, characterized in that: The method of taking the comprehensive result of the difference in the echo signal intensity of the ultrasound probe in adjacent frames and the difference in the tissue contrast of the ultrasound image as the air interference degree of the ultrasound image includes the following specific methods: The average echo signal strength received by the ultrasound probe when collecting each frame of ultrasound image during the operation is obtained, and the air interference degree of the ultrasound image is obtained according to the corresponding differences in tissue contrast and average echo signal strength between two adjacent frames of ultrasound images in any time period. The corresponding differences in tissue contrast and average echo signal strength between two adjacent frames of ultrasound images are positively correlated with the air interference degree.

5. The method for ultrasonic monitoring and guidance during follicle puncture and egg retrieval according to claim 1, characterized in that: The specific method of analyzing the degree of misunderstanding when extracting anatomical information from an ultrasound image of a corresponding frame by using the path deviation rate and the air interference degree to obtain the information misunderstanding degree of the ultrasound image includes: The information misinterpretation degree of the ultrasound image is acquired according to the path deviation rate and the air interference degree of the ultrasound probe, and the information misinterpretation degree is positively correlated with both the path deviation rate and the air interference degree.

6. The method for ultrasonic monitoring and guidance during follicle puncture and egg retrieval according to claim 1, characterized in that: The specific method of analyzing the attenuation characteristics of the ultrasonic echo signal during the operation includes: The depth information of the ultrasonic probe and the arrival time of the ultrasonic echo signal are obtained when each frame of the ultrasonic image is collected, and the depth information and the arrival time are respectively curve-fitted by the least square method to obtain the depth change curve of the ultrasonic probe and the echo time curve of the ultrasonic signal during the operation; the attenuation trend parameters of the echo signal of the ultrasonic probe during the operation are obtained by using the depth change curve and the echo time curve.

7. The method for ultrasonic monitoring and guidance during follicle puncture and egg retrieval according to claim 1, characterized in that: The method of obtaining a gain compensation factor for the echo signal of the ultrasound probe and enhancing the echo signal by using the information misinterpretation degree of the ultrasound image and the attenuation characteristics of the ultrasound echo signal of the ultrasound probe includes: According to the information misunderstanding degree of the ultrasonic image and the attenuation characteristics of the ultrasonic echo signal of the ultrasonic probe, the gain compensation factor of the echo signal of the ultrasonic probe is calculated, and the ultrasonic echo signal is enhanced using the gain compensation factor to obtain a corresponding ultrasonic image, wherein the gain compensation factor of the echo signal of the ultrasonic probe is positively correlated with the information misunderstanding degree and the attenuation characteristics.

8. The method for ultrasonic monitoring and guidance during follicle puncture and egg retrieval according to claim 4, characterized in that: The specific calculation method of the air interference degree is: ； in, For the The air interference degree of the last frame of ultrasound image in a time period; For the The tissue contrast of the last frame of ultrasound image in the time period, For the The tissue contrast of the first frame of ultrasound image in a time period; For ultrasound probe The average echo signal intensity when the last frame of ultrasound image is collected in a time period; For ultrasound probe The average echo signal strength when the first frame of ultrasound image is collected in a time period.

9. The method for ultrasonic monitoring and guidance during follicle puncture and egg retrieval according to claim 6, characterized in that: The specific calculation method of the attenuation trend parameter is: ； in, is the attenuation trend parameter of the echo signal of the ultrasonic probe, Indicates obtaining a mean square error between the depth variation curve and the echo time curve; Represents the average slope value of the ultrasound echo time curve.

10. The method for ultrasonic monitoring and guidance during follicle puncture and egg retrieval according to claim 7, characterized in that: The specific calculation method of the gain compensation factor is: ； in, To collect The gain compensation factor of the echo signal when the last frame of ultrasound image is obtained in a time period; It represents the attenuation trend of the echo signal of the ultrasonic probe; For the The information misunderstanding degree of the last frame of ultrasound image in a time period; is the hyperbolic tangent function.

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