Intelligent posture adjustment method and system for ultrasonic detection

Abstract

The invention relates to the field of ultrasonic therapy, in particular to an intelligent posture adjusting method and system for ultrasonic detection, and the method comprises the steps: carrying out the visual recognition of the initial state information of a target part on a target object of a therapy bed for ultrasonic detection, so as to determine the expected ultrasonic irradiation space information; comparing with actual ultrasonic irradiation space information of the ultrasonic irradiation equipment to obtain ultrasonic irradiation space deviation information, so as to carry out first posture adjustment on the treatment bed and accurately drive the target object to move to be aligned with the ultrasonic irradiation equipment; the thermal sensing identification target part receives global temperature change information in the ultrasonic irradiation process, an ultrasonic irradiation abnormal sub-region is determined, and target irradiation space interval information of the ultrasonic irradiation equipment on the irradiation abnormal sub-region is determined in combination with ultrasonic transmission attenuation space characteristics, so that second posture adjustment is performed on the treatment bed; the distance between the target part and the ultrasonic irradiation equipment is shortened, and the treatment efficiency and reliability are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of ultrasonic detection, and particularly to an intelligent attitude adjustment method and system for ultrasonic detection. Background Art

[0002] Ultrasonic detection and treatment utilize high-frequency and high-energy ultrasonic waves to irradiate a part of a patient's body. The diseased tissue in this part of the body will heat up under the action of ultrasonic waves. When the temperature rises to a certain level, the proteins in the diseased tissue will denature, thereby inhibiting the proliferation of the diseased tissue and achieving non-invasive and non-intrusive treatment for the patient. In order to improve the efficiency and repeatability of ultrasonic detection and treatment for patients, an ultrasonic detection treatment bed is used to assist the treatment process. The ultrasonic detection treatment bed supports the patient and can adjust its own attitude to change the patient's posture. During the actual treatment process, it is necessary for the ultrasonic beam emitted by the ultrasonic irradiation device to accurately irradiate the part of the body to ensure the efficient transmission of ultrasonic energy to the diseased tissue and improve the heating efficiency of the diseased tissue. Although the existing treatment bed is equipped with an electric lifting component and an electric rotating component, and the patient can be adjusted to a suitable attitude by manually operating the electric lifting component and the electric rotating component, the above adjustment process cannot be performed according to the relative position relationship between the ultrasonic irradiation device and the part of the patient's body and the temperature change state of the patient's body part, and it is impossible to ensure that the part of the patient's body is always aligned to receive ultrasonic irradiation with sufficient intensity throughout the treatment process, reducing the treatment efficiency and reliability. Summary of the Invention

[0003] Aiming at the defects existing in the prior art, the present invention provides an intelligent attitude adjustment method and system for ultrasonic detection, which visually recognizes the initial state information of the target part on the target object located on the ultrasonic detection treatment bed, thereby determining the expected ultrasonic irradiation space information, comparing it with the actual ultrasonic irradiation space information of the ultrasonic irradiation device, obtaining the ultrasonic irradiation space deviation information, and performing a first attitude adjustment on the treatment bed to accurately drive the target object to move and align with the ultrasonic irradiation device during the attitude adjustment process of the treatment bed; it also thermally senses the global temperature change information during the process of the target part receiving ultrasonic irradiation, determines the ultrasonic irradiation abnormal sub-region, and combines the ultrasonic transmission attenuation space characteristics to determine the target irradiation space interval information of the ultrasonic irradiation device for the abnormal sub-region of ultrasonic irradiation, thereby performing a second attitude adjustment on the treatment bed to shorten the distance between the target part and the ultrasonic irradiation device, ensuring that the target part receives ultrasonic energy, and improving the treatment efficiency and reliability.

[0004] The present invention provides an intelligent attitude adjustment method for ultrasonic detection, including the following steps: Step S1, collect an image of a target object on an ultrasound detection treatment bed, and identify initial state information of a target part on the target object from the image; based on the initial state information, determine expected ultrasound irradiation space information for the target part; Step S2, based on the expected ultrasound irradiation space information and the actual ultrasound irradiation space information of the ultrasound irradiation device of the treatment bed, determine ultrasound irradiation space deviation information of the ultrasound irradiation device for the target part; based on the ultrasound irradiation space deviation information, perform a first attitude adjustment on the treatment bed; Step S3, collect a dynamic thermal sense image during the process of the target part receiving ultrasound irradiation, and identify global temperature change information of the target part from the dynamic thermal sense image; based on the global temperature change information, determine an abnormal sub-region of ultrasound irradiation of the target part; Step S4, based on the abnormal sub-region of ultrasound irradiation and the spatial characteristics of ultrasonic transmission attenuation emitted by the ultrasound irradiation device, determine target irradiation space interval information of the ultrasound irradiation device for the abnormal sub-region of irradiation; based on the target irradiation space interval information, perform a second attitude adjustment on the treatment bed.

[0005] In an embodiment disclosed in the present application, in the step S1, collecting an image of a target object on an ultrasound detection treatment bed, and identifying initial state information of a target part on the target object from the image; based on the initial state information, determining expected ultrasound irradiation space information for the target part includes: Perform three-dimensional shooting on a target object on an ultrasound detection treatment bed to obtain a three-dimensional image of the target object; perform pixel contour recognition on the three-dimensional image to obtain body surface contour feature information of the target object and external shape structure contour feature information of the treatment bed; Extract edge contour feature information of the target part on the target object from the body surface contour feature information, perform a spatial comparison between the edge contour feature information and the external shape structure contour feature information, and determine the relative spatial position information between the external edge of the target part and the treatment bed, and use this as the initial state information of the target object; Based on the relative spatial position information, determine the relative orientation information between the global surface of the target part and the ultrasound irradiation device of the treatment bed; based on the relative orientation information, determine the expected ultrasound irradiation space information for the target part.

[0006] In an embodiment disclosed in the present application, in the step S2, based on the desired ultrasonic irradiation space information and the actual ultrasonic irradiation space information of the ultrasonic irradiation device of the treatment couch, determine the ultrasonic irradiation space deviation information of the ultrasonic irradiation device with respect to the target site; based on the ultrasonic irradiation space deviation information, perform a first attitude adjustment on the treatment couch, including: Based on the focusing element parameters of the ultrasonic irradiation device of the treatment couch, determine the actual ultrasonic irradiation space solid angle range information of the ultrasonic irradiation device, and use this as the actual ultrasonic irradiation space information of the ultrasonic irradiation device; compare the desired ultrasonic irradiation space solid angle range information corresponding to the desired ultrasonic irradiation space information with the actual ultrasonic irradiation space solid angle range information to determine the ultrasonic irradiation space solid angle deviation information of the ultrasonic irradiation device with respect to the target site; Based on the ultrasonic irradiation space solid angle deviation information, determine the deviation attitude angle between the global surface of the target site and the actual ultrasonic irradiation cross-section of the ultrasonic irradiation device; based on the deviation attitude angle, adjust the supporting attitude of the treatment couch for the target object, so that the actual ultrasonic irradiation solid angle range of the ultrasonic irradiation device completely covers the desired ultrasonic irradiation space solid angle range.

[0007] In an embodiment disclosed in the present application, in the step S3, collect the dynamic thermal sense image during the process of the target site receiving ultrasonic irradiation, and identify the global temperature change information of the target site from the dynamic thermal sense image; based on the global temperature change information, determine the ultrasonic irradiation abnormal sub-region of the target site, including: Collect the dynamic infrared thermal sense image during the process of the target site receiving ultrasonic irradiation, perform frame division processing on the dynamic infrared thermal sense image to obtain a number of infrared thermal sense image frames; perform temperature recognition processing on all infrared thermal sense image frames to obtain the global temperature distribution information of the target site of each infrared thermal sense image frame; perform time evolution analysis on the global temperature distribution information corresponding to all infrared thermal sense image frames to obtain the global temperature change information of the target site; wherein, the global temperature change information refers to the temperature change rate information of each sub-region under the target site; Based on the global temperature change information, predict whether each sub-region under the target site reaches the target temperature value within a predetermined time interval; if not, determine that the corresponding sub-region belongs to the ultrasonic irradiation abnormal sub-region of the target site; if so, determine that the corresponding sub-region does not belong to the ultrasonic irradiation abnormal sub-region of the target site.

[0008] In an embodiment disclosed in the present application, in step S4, based on the ultrasonic irradiation abnormal sub-region and the spatial characteristics of ultrasonic transmission attenuation emitted by the ultrasonic irradiation device, the target irradiation space interval information of the ultrasonic irradiation device for the irradiation abnormal sub-region is determined; based on the target irradiation space interval information, a second attitude adjustment is performed on the treatment bed, including: Based on the occupied space range of the ultrasonic irradiation abnormal sub-region on the surface of the target part, the actual ultrasonic energy information received by the ultrasonic irradiation abnormal sub-region is determined; based on the actual ultrasonic energy information and the target received ultrasonic energy information, the ultrasonic irradiation energy gap information of the ultrasonic irradiation abnormal sub-region is determined; based on the ultrasonic irradiation energy gap information and the intensity attenuation rate characteristics of the ultrasonic wave emitted by the ultrasonic irradiation device on the transmission path from the ultrasonic irradiation device to the ultrasonic irradiation abnormal sub-region, the target irradiation straight-line distance information of the ultrasonic irradiation device for the irradiation abnormal sub-region is determined, and this is used as the target irradiation space interval information; Based on the target irradiation straight-line distance information, the supporting height of the treatment bed for the target object is adjusted, so that the distance between the ultrasonic irradiation device and the target part is less than or equal to the target irradiation straight-line distance.

[0009] The present invention also provides an intelligent attitude adjustment system for ultrasonic detection, including: A visual recognition module, configured to collect an image of a target object located on a treatment bed for ultrasonic detection, and obtain initial state information of a target part on the target object by recognizing from the image; An ultrasonic irradiation space positioning module, configured to determine expected ultrasonic irradiation space information for the target part based on the initial state information; An ultrasonic irradiation space deviation determination module, configured to determine ultrasonic irradiation space deviation information of the ultrasonic irradiation device for the target part based on the expected ultrasonic irradiation space information and the actual ultrasonic irradiation space information of the ultrasonic irradiation device of the treatment bed; A first attitude adjustment module, configured to perform a first attitude adjustment on the treatment bed based on the ultrasonic irradiation space deviation information; A thermal sense recognition module, configured to collect a dynamic thermal sense image during the process of the target part receiving ultrasonic irradiation, and obtain global temperature change information of the target part by recognizing from the dynamic thermal sense image; An ultrasonic irradiation abnormal positioning module, configured to determine an ultrasonic irradiation abnormal sub-region of the target part based on the global temperature change information; An irradiation space interval determination module, configured to determine target irradiation space interval information of the ultrasonic irradiation device for the abnormal irradiation sub-region based on the ultrasonic irradiation abnormal sub-region and the ultrasonic transmission attenuation space characteristics emitted by the ultrasonic irradiation device; A second attitude adjustment module, configured to perform a second attitude adjustment on the treatment couch based on the target irradiation space interval information.

[0010] In an embodiment disclosed in the present application, the visual recognition module is configured to collect an image of a target object located on a treatment couch for ultrasonic detection, and recognize initial state information of a target part on the target object from the image, including: Performing three-dimensional shooting on a target object located on a treatment couch for ultrasonic detection to obtain a three-dimensional image of the target object; performing pixel contour recognition on the three-dimensional image to obtain body surface contour feature information of the target object and external shape structure contour feature information of the treatment couch; Extracting edge contour feature information of a target part on the target object from the body surface contour feature information, performing a spatial comparison between the edge contour feature information and the external shape structure contour feature information, and determining relative spatial position information between the external edge of the target part and the treatment couch, and using this as the initial state information of the target object; The ultrasonic irradiation space positioning module is configured to determine desired ultrasonic irradiation space information for the target part based on the initial state information, including: Determining relative azimuth information between the global surface of the target part and the ultrasonic irradiation device of the treatment couch based on the relative spatial position information; determining desired ultrasonic irradiation space information for the target part based on the relative azimuth information.

[0011] In an embodiment disclosed in the present application, the ultrasonic irradiation space deviation determination module is configured to determine ultrasonic irradiation space deviation information of the ultrasonic irradiation device for the target part based on the desired ultrasonic irradiation space information and the actual ultrasonic irradiation space information of the ultrasonic irradiation device of the treatment couch, including: Determining actual ultrasonic irradiation space solid angle range information of the ultrasonic irradiation device based on the focusing element parameters of the ultrasonic irradiation device of the treatment couch, and using this as the actual ultrasonic irradiation space information of the ultrasonic irradiation device; comparing the desired ultrasonic irradiation space solid angle range information corresponding to the desired ultrasonic irradiation space information with the actual ultrasonic irradiation space solid angle range information to determine the ultrasonic irradiation space solid angle deviation information of the ultrasonic irradiation device for the target part; The first attitude adjustment module is configured to perform a first attitude adjustment on the treatment couch based on the ultrasonic irradiation space deviation information, including: Based on the ultrasonic irradiation spatial solid angle deviation information, determine the deviation attitude angle between the global surface of the target part and the actual ultrasonic irradiation cross-section of the ultrasonic irradiation device; based on the deviation attitude angle, adjust the supporting attitude of the treatment couch for the target object, so that the actual ultrasonic irradiation solid angle range of the ultrasonic irradiation device completely covers the desired ultrasonic irradiation spatial solid angle range.

[0012] In an embodiment disclosed in the present application, the thermal sensation recognition module is used to collect the dynamic thermal sensation images during the process of the target part receiving ultrasonic irradiation, and identify the global temperature change information of the target part from the dynamic thermal sensation images, including: Collect the dynamic infrared thermal sensation images during the process of the target part receiving ultrasonic irradiation, perform frame-by-frame processing on the dynamic infrared thermal sensation images to obtain a number of infrared thermal sensation image frames; perform temperature recognition processing on all infrared thermal sensation image frames to obtain the global temperature distribution information of the target part of each infrared thermal sensation image frame; perform time evolution analysis on the global temperature distribution information corresponding to all infrared thermal sensation image frames to obtain the global temperature change information of the target part; wherein, the global temperature change information refers to the temperature change rate information of each sub-region under the target part; The ultrasonic irradiation anomaly positioning module is used to determine the ultrasonic irradiation anomaly sub-region of the target part based on the global temperature change information, including: Based on the global temperature change information, predict whether each sub-region under the target part reaches the target temperature value within a predetermined time interval; if not, determine that the corresponding sub-region belongs to the ultrasonic irradiation anomaly sub-region of the target part; if so, determine that the corresponding sub-region does not belong to the ultrasonic irradiation anomaly sub-region of the target part.

[0013] In an embodiment disclosed in the present application, the irradiation space interval determination module is used to determine the target irradiation space interval information of the ultrasonic irradiation device for the irradiation anomaly sub-region based on the ultrasonic irradiation anomaly sub-region and the spatial characteristics of ultrasonic transmission attenuation emitted by the ultrasonic irradiation device, including: Based on the occupied space range of the abnormal ultrasonic irradiation sub-region on the surface of the target site, determine the actual ultrasonic energy information received by the abnormal ultrasonic irradiation sub-region; based on the actual ultrasonic energy information and the target received ultrasonic energy information, determine the ultrasonic irradiation energy gap information of the abnormal ultrasonic irradiation sub-region; based on the ultrasonic irradiation energy gap information and the intensity attenuation rate characteristics of the ultrasonic wave emitted by the ultrasonic irradiation device on the transmission path from the ultrasonic irradiation device to the abnormal ultrasonic irradiation sub-region, determine the target irradiation straight-line distance information of the ultrasonic irradiation device for the abnormal irradiation sub-region, and use this as the target irradiation space interval information; The second attitude adjustment module is used to perform a second attitude adjustment on the treatment bed based on the target irradiation space interval information, including: Based on the target irradiation straight-line distance information, adjust the supporting height of the treatment bed for the target object, so that the distance between the ultrasonic irradiation device and the target site is less than or equal to the target irradiation straight-line distance.

[0014] Compared with the prior art, the intelligent attitude adjustment method and system for ultrasonic detection of the present invention visually recognize the initial state information of the target site on the target object located on the treatment bed for ultrasonic detection, thereby determining the expected ultrasonic irradiation space information, and comparing it with the actual ultrasonic irradiation space information of the ultrasonic irradiation device to obtain the ultrasonic irradiation space deviation information, and thereby performing a first attitude adjustment on the treatment bed, so that the treatment bed can accurately drive the target object to move and align with the ultrasonic irradiation device during the attitude adjustment process; it also thermally senses the global temperature change information during the process of the target site receiving ultrasonic irradiation, determines the abnormal ultrasonic irradiation sub-region, and combines the ultrasonic transmission attenuation space characteristics to determine the target irradiation space interval information of the ultrasonic irradiation device for the abnormal irradiation sub-region, and thereby performs a second attitude adjustment on the treatment bed to shorten the distance between the target site and the ultrasonic irradiation device, ensuring that the target site receives ultrasonic energy and improving the treatment efficiency and reliability.

[0015] Other features and advantages of the present invention will be described in the following description, and in part, will be obvious from the description, or will be understood by implementing the present invention. The objectives and other advantages of the present invention can be achieved and obtained by the structures specifically pointed out in the written description, claims, and drawings.

[0016] The technical solutions of the present invention will be further described in detail below through the drawings and embodiments. Description of the Drawings

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0018] Figure 1 It is a schematic flow chart of the intelligent attitude adjustment method for ultrasonic detection provided by the present invention.

[0019] Figure 2 It is a schematic framework diagram of the intelligent attitude adjustment system for ultrasonic detection provided by the present invention. Detailed implementation manners

[0020] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0021] Refer to Figure 1 , which is a schematic flow chart of the intelligent attitude adjustment method for ultrasonic detection provided by the embodiments of the present invention. The intelligent attitude adjustment method for ultrasonic detection includes: Step S1, collect an image of the target object on the treatment bed for ultrasonic detection, and identify the initial state information of the target part on the target object from the image; based on the initial state information, determine the expected ultrasonic irradiation space information for the target part; Step S2, based on the expected ultrasonic irradiation space information and the actual ultrasonic irradiation space information of the ultrasonic irradiation device on the treatment bed, determine the ultrasonic irradiation space deviation information of the ultrasonic irradiation device for the target part; based on the ultrasonic irradiation space deviation information, perform a first attitude adjustment on the treatment bed; Step S3, collect the dynamic thermal sense image during the process of the target part receiving ultrasonic irradiation, and identify the global temperature change information of the target part from the dynamic thermal sense image; based on the global temperature change information, determine the ultrasonic irradiation abnormal sub-region of the target part; Step S4, based on the ultrasonic irradiation abnormal sub-region and the ultrasonic transmission attenuation space characteristics of the ultrasonic waves emitted by the ultrasonic irradiation device, determine the target irradiation space interval information of the ultrasonic irradiation device for the irradiation abnormal sub-region; based on the target irradiation space interval information, perform a second attitude adjustment on the treatment bed.

[0022] The beneficial effects of the above technical solution are as follows: The intelligent attitude adjustment method for ultrasonic detection visually recognizes the initial state information of the target part on the target object located on the treatment bed for ultrasonic detection, determines the expected ultrasonic irradiation space information based on this, compares it with the actual ultrasonic irradiation space information of the ultrasonic irradiation device, obtains the ultrasonic irradiation space deviation information, and makes a first attitude adjustment to the treatment bed based on this, so that the treatment bed can accurately drive the target object to move and align with the ultrasonic irradiation device during the attitude adjustment process; it also thermally senses the global temperature change information of the target part during the ultrasonic irradiation process, determines the abnormal sub-region of the ultrasonic irradiation, and combines the spatial characteristics of ultrasonic transmission attenuation to determine the target irradiation space interval information of the ultrasonic irradiation device for the abnormal sub-region of the ultrasonic irradiation, and makes a second attitude adjustment to the treatment bed based on this, shortening the distance between the target part and the ultrasonic irradiation device, ensuring that the target part receives ultrasonic energy, and improving the treatment efficiency and reliability.

[0023] Preferably, in step S1, an image of the target object located on the treatment bed for ultrasonic detection is collected, and the initial state information of the target part on the target object is recognized from the image; based on the initial state information, the expected ultrasonic irradiation space information for the target part is determined, including: Perform three-dimensional shooting on the target object located on the treatment bed for ultrasonic detection to obtain a three-dimensional image of the target object; perform pixel contour recognition on the three-dimensional image to obtain the body surface contour feature information of the target object and the external shape structure contour feature information of the treatment bed; Extract the edge contour feature information of the target part on the target object from the body surface contour feature information, perform spatial comparison between the edge contour feature information and the external shape structure contour feature information, determine the relative spatial position information between the external edge of the target part and the treatment bed, and use this as the initial state information of the target object; Based on the relative spatial position information, determine the relative azimuth information between the global surface of the target part and the ultrasonic irradiation device of the treatment bed; based on the relative azimuth information, determine the expected ultrasonic irradiation space information of the target part.

[0024] The beneficial effects of the above technical solution are as follows: During the ultrasonic detection and treatment process, the target object such as a patient needs to lie on the treatment bed for ultrasonic detection, and the ultrasonic irradiation device configured on the treatment bed irradiates an ultrasonic beam to the corresponding body part of the patient. Therefore, the relative azimuth angle relationship and relative distance relationship between the ultrasonic irradiation device and the patient (especially the corresponding body part) will affect the irradiation alignment degree and irradiation intensity of the ultrasonic beam on the patient. In order to ensure that the ultrasonic beam emitted by the ultrasonic irradiation device can accurately align with the corresponding body part of the patient for irradiation with sufficient intensity, it is necessary to accurately and real-time adjust the relative azimuth angle relationship and relative distance between the ultrasonic irradiation device and the patient. In addition, in order to avoid equipment damage caused by directly adjusting the ultrasonic irradiation device, usually, the lying posture and lying height of the patient in space are changed to adjust the relative azimuth angle relationship and relative distance between the ultrasonic irradiation device and the patient. Specifically, the attitude angle and height of the treatment bed itself can be changed by driving the electric rotating component and electric lifting component on the treatment bed, so as to synchronously change the lying attitude angle and height of the patient, and then change the relative azimuth angle relationship and relative distance between the ultrasonic irradiation device and the patient.

[0025] In order to make the ultrasonic beam emitted by the ultrasonic irradiation device accurately align with the target part on the body of the target object for irradiation, first, a three-dimensional photograph of the target object lying on the treatment bed for ultrasonic detection is taken to obtain a three-dimensional image of the target object, and the body surface contour feature information of the target object and the external shape structure contour feature information of the treatment bed are identified from the three-dimensional image, so as to accurately represent the spatial position and shape of the body of the target object and the external shape of the treatment bed in three-dimensional space. The edge contour feature information of the corresponding target part on the body of the target object is also extracted from the body surface contour feature information to globally represent the spatial position and shape of the overall external shape contour of the target part in three-dimensional space. And the edge contour feature information is spatially compared with the external shape structure contour feature information to determine the relative spatial position information between the external edge of the target part and the treatment bed, so as to accurately represent the relative azimuth between the target part of the target object and the treatment bed. During the actual ultrasonic detection and treatment process, it is necessary to accurately irradiate the ultrasonic beam on the global surface of the target part on the body of the target object, that is, the global surface of the target part defines the spatial range that the ultrasonic beam should irradiate. Therefore, based on this relative spatial position information, the relative azimuth information between the global surface of the target part and the ultrasonic irradiation device of the treatment bed is determined, so as to determine the desired ultrasonic irradiation spatial information of the target part, where the desired ultrasonic irradiation spatial information refers to the size of the spatial solid angle range formed by the ultrasonic wave in three-dimensional space when the global surface of the target part is completely irradiated with ultrasonic waves.

[0026] Preferably, in step S2, based on the desired ultrasonic irradiation space information and the actual ultrasonic irradiation space information of the ultrasonic irradiation device on the treatment couch, determine the ultrasonic irradiation space deviation information of the ultrasonic irradiation device for the target site; based on the ultrasonic irradiation space deviation information, perform a first attitude adjustment on the treatment couch, including: Based on the focusing element parameters of the ultrasonic irradiation device on the treatment couch, determine the actual ultrasonic irradiation space solid angle range information of the ultrasonic irradiation device, and use this as the actual ultrasonic irradiation space information of the ultrasonic irradiation device; compare the desired ultrasonic irradiation space solid angle range information corresponding to the desired ultrasonic irradiation space information with the actual ultrasonic irradiation space solid angle range information to determine the ultrasonic irradiation space solid angle deviation information of the ultrasonic irradiation device for the target site; Based on the ultrasonic irradiation space solid angle deviation information, determine the deviation attitude angle between the global surface of the target site and the actual ultrasonic irradiation cross-section of the ultrasonic irradiation device; based on the deviation attitude angle, adjust the supporting attitude of the treatment couch for the target object, so that the actual ultrasonic irradiation solid angle range of the ultrasonic irradiation device completely covers the desired ultrasonic irradiation space solid angle range.

[0027] The beneficial effects of the above technical solution are as follows: The ultrasonic irradiation device uses a transducer to generate an original ultrasonic beam, and then uses a focusing element to focus the original ultrasonic beam to change the irradiation range of the original ultrasonic beam (that is, to narrow the irradiation range of the original ultrasonic wave), which can not only improve the energy aggregation degree of the ultrasonic beam, but also effectively narrow the divergence angle of the ultrasonic beam, ensuring that the ultrasonic beam emitted by the ultrasonic irradiation device can irradiate the target site with higher energy. In order to enable the target site to be aligned with the irradiation space range of the ultrasonic beam emitted by the ultrasonic irradiation device, based on the focusing element parameters of the ultrasonic irradiation device on the treatment couch (such as the divergence angle reduction coefficient of the focusing element for the ultrasonic beam), determine the actual ultrasonic irradiation space solid angle range information of the ultrasonic irradiation device. Compare the desired ultrasonic irradiation space solid angle range information corresponding to the desired ultrasonic irradiation space information with the actual ultrasonic irradiation space solid angle range information to determine the ultrasonic irradiation space solid angle deviation information of the ultrasonic irradiation device for the target site, and use this to determine the deviation attitude angle between the global surface of the target site and the actual ultrasonic irradiation cross-section of the ultrasonic irradiation device, which is convenient for subsequent control of the electric rotation components of the treatment couch to adjust and change at least one of the pitch angle, yaw angle, and roll angle based on this deviation attitude angle, so as to synchronously adjust the supporting attitude for the target object, so that the actual ultrasonic irradiation solid angle range of the ultrasonic irradiation device completely covers the desired ultrasonic irradiation space solid angle range, and accurately drive the target object to move and align with the ultrasonic irradiation device during the attitude adjustment of the treatment couch, ensuring that the global surface of the target site can receive effective ultrasonic irradiation.

[0028] Preferably, in step S3, a dynamic thermal sensation image of the target part during the ultrasonic irradiation process is collected, and the global temperature change information of the target part is identified from the dynamic thermal sensation image; based on the global temperature change information, the ultrasonic irradiation abnormal sub-region of the target part is determined, including: Collect a dynamic infrared thermal sensation image of the target part during the ultrasonic irradiation process, perform frame-by-frame processing on the dynamic infrared thermal sensation image to obtain a number of infrared thermal sensation image frames; perform temperature recognition processing on all infrared thermal sensation image frames to obtain the global temperature distribution information of the target part of each infrared thermal sensation image frame; perform time evolution analysis on the global temperature distribution information corresponding to all infrared thermal sensation image frames to obtain the global temperature change information of the target part; wherein, the global temperature change information refers to the temperature change rate information of each sub-region under the target part. Based on the global temperature change information, predict whether each sub-region under the target part reaches the target temperature value within a predetermined time interval; if not, determine that the corresponding sub-region belongs to the ultrasonic irradiation abnormal sub-region of the target part; if so, determine that the corresponding sub-region does not belong to the ultrasonic irradiation abnormal sub-region of the target part.

[0029] The beneficial effects of the above technical solution are as follows: During the ultrasonic irradiation process, the temperature of the target part will continuously increase. However, the ultrasonic irradiation energy received by different sub-regions on the global surface of the target part is different, and the biological tissue structures of different sub-regions on the global surface of the target part are also different, resulting in different temperature increase situations (such as temperature increase rates) of different sub-regions under ultrasonic irradiation. In order to accurately and comprehensively identify the temperature increase situation of the target part under ultrasonic irradiation, collect and analyze the dynamic infrared thermal sensation image of the target part during the ultrasonic irradiation process, obtain the global temperature change information of the target part, and accurately characterize the magnitude of the temperature change rate of each sub-region under the target part. Then, based on the global temperature change information, predict whether each sub-region under the target part reaches the target temperature value within a predetermined time interval, so as to identify the ultrasonic irradiation abnormal sub-region within the target part, providing a reliable basis for subsequent closer ultrasonic irradiation of the ultrasonic irradiation abnormal sub-region.

[0030] Preferably, in step S4, based on the ultrasonic irradiation abnormal sub-region and the spatial characteristics of the ultrasonic transmission attenuation emitted by the ultrasonic irradiation device, determine the target irradiation space interval information of the ultrasonic irradiation device for the irradiation abnormal sub-region; based on the target irradiation space interval information, perform a second posture adjustment on the treatment bed, including: Based on the occupied space range of the abnormal sub-region irradiated by ultrasonic waves on the surface of the target site, determine the actual ultrasonic energy information received by the abnormal sub-region irradiated by ultrasonic waves; based on the actual ultrasonic energy information and the target received ultrasonic energy information, determine the ultrasonic irradiation energy gap information of the abnormal sub-region irradiated by ultrasonic waves; based on the ultrasonic irradiation energy gap information and the intensity attenuation rate characteristics of the ultrasonic waves emitted by the ultrasonic irradiation device on the transmission path from the ultrasonic irradiation device to the abnormal sub-region irradiated by ultrasonic waves, determine the target irradiation straight-line distance information of the ultrasonic irradiation device for the abnormal sub-region irradiated, and use this as the target irradiation space interval information. Based on the target irradiation straight-line distance information, adjust the supporting height of the treatment couch for the target object, so that the distance between the ultrasonic irradiation device and the target site is less than or equal to the target irradiation straight-line distance.

[0031] The beneficial effects of the above technical solution are as follows: Based on the occupied space range (i.e., the occupied area range) of the abnormal sub-region irradiated by ultrasonic waves on the surface of the target site, determine the actual ultrasonic energy value received by the abnormal sub-region irradiated by ultrasonic waves; generally speaking, the occupied area range of the abnormal sub-region irradiated by ultrasonic waves is positively correlated with the actual ultrasonic energy value received. Then compare the actual ultrasonic energy value received by the abnormal sub-region irradiated by ultrasonic waves with the preset target received ultrasonic energy value of the abnormal sub-region irradiated by ultrasonic waves, and use the difference between the two as the ultrasonic irradiation energy gap value of the abnormal sub-region irradiated by ultrasonic waves. The ultrasonic beam emitted by the ultrasonic irradiation device will undergo intensity attenuation on the spatial path to the abnormal sub-region irradiated by ultrasonic waves. When the length of the spatial path is larger, the intensity attenuation amplitude of the ultrasonic beam is larger, so that the abnormal sub-region irradiated by ultrasonic waves cannot receive ultrasonic irradiation with sufficient energy and cannot quickly rise to the corresponding temperature. When the length of the spatial path becomes smaller (i.e., the straight-line distance between the ultrasonic irradiation device and the abnormal sub-region irradiated by ultrasonic waves becomes smaller), the ultrasonic energy received by the abnormal sub-region irradiated by ultrasonic waves also becomes larger, thereby making up for the ultrasonic irradiation energy gap value of the abnormal sub-region irradiated by ultrasonic waves. In order to enable the abnormal sub-region irradiated by ultrasonic waves to obtain ultrasonic irradiation with sufficient energy, based on the ultrasonic irradiation energy gap information and the intensity attenuation rate characteristics of the ultrasonic waves emitted by the ultrasonic irradiation device on the transmission path from the ultrasonic irradiation device to the abnormal sub-region irradiated by ultrasonic waves, determine the target irradiation straight-line distance of the ultrasonic irradiation device for the abnormal sub-region irradiated. And based on the target irradiation straight-line distance, control the electric lifting component of the treatment couch to perform a lifting action, so as to synchronously adjust the supporting height of the target object, so that the distance between the ultrasonic irradiation device and the target site is less than or equal to the target irradiation straight-line distance, shorten the distance between the abnormal sub-region irradiated by ultrasonic waves and the ultrasonic irradiation device, and increase the ultrasonic energy received by the abnormal sub-region irradiated by ultrasonic waves.

[0032] Refer to Figure 2, which is a schematic framework diagram of the intelligent attitude adjustment system for ultrasonic detection provided by the embodiments of the present invention. The intelligent attitude adjustment system for ultrasonic detection includes: A vision recognition module, configured to collect an image of a target object on a treatment bed for ultrasonic detection, and recognize initial state information of a target part on the target object from the image; An ultrasonic irradiation space positioning module, configured to determine desired ultrasonic irradiation space information for the target part based on the initial state information; An ultrasonic irradiation space deviation determination module, configured to determine ultrasonic irradiation space deviation information of the ultrasonic irradiation device for the target part based on the desired ultrasonic irradiation space information and the actual ultrasonic irradiation space information of the ultrasonic irradiation device of the treatment bed; A first attitude adjustment module, configured to perform a first attitude adjustment on the treatment bed based on the ultrasonic irradiation space deviation information; A thermal sense recognition module, configured to collect a dynamic thermal sense image during the process of the target part receiving ultrasonic irradiation, and recognize global temperature change information of the target part from the dynamic thermal sense image; An ultrasonic irradiation anomaly positioning module, configured to determine an ultrasonic irradiation anomaly sub-region of the target part based on the global temperature change information; An irradiation space interval determination module, configured to determine target irradiation space interval information of the ultrasonic irradiation device for the irradiation anomaly sub-region based on the ultrasonic irradiation anomaly sub-region and the ultrasonic transmission attenuation space characteristics of the ultrasonic waves emitted by the ultrasonic irradiation device; A second attitude adjustment module, configured to perform a second attitude adjustment on the treatment bed based on the target irradiation space interval information.

[0033] The beneficial effects of the above technical solutions are as follows: The intelligent attitude adjustment system for ultrasonic detection recognizes the initial state information of the target part on the target object located on the treatment bed for ultrasonic detection, thereby determining the desired ultrasonic irradiation space information, and comparing it with the actual ultrasonic irradiation space information of the ultrasonic irradiation device to obtain the ultrasonic irradiation space deviation information, and performing a first attitude adjustment on the treatment bed based on this, so that the treatment bed can accurately drive the target object to move and align with the ultrasonic irradiation device during the attitude adjustment process; it also thermally senses the global temperature change information during the process of the target part receiving ultrasonic irradiation, determines the ultrasonic irradiation anomaly sub-region, and combines the ultrasonic transmission attenuation space characteristics to determine the target irradiation space interval information of the ultrasonic irradiation device for the irradiation anomaly sub-region, and performs a second attitude adjustment on the treatment bed based on this, shortening the distance between the target part and the ultrasonic irradiation device, ensuring that the target part receives ultrasonic energy, and improving the treatment efficiency and reliability.

[0034] Preferably, the visual recognition module is used to collect an image of the target object on the treatment bed for ultrasonic detection, and obtain the initial state information of the target part on the target object from the image recognition, including: Perform three-dimensional shooting on the target object located on the treatment bed for ultrasonic detection to obtain a three-dimensional image of the target object; perform pixel contour recognition on the three-dimensional image to obtain the body surface contour feature information of the target object and the external shape structure contour feature information of the treatment bed; Extract the edge contour feature information of the target part on the target object from the body surface contour feature information, and perform spatial comparison between the edge contour feature information and the external shape structure contour feature information to determine the relative spatial position information between the external edge of the target part and the treatment bed, and use this as the initial state information of the target object; The ultrasonic irradiation space positioning module is used to determine the desired ultrasonic irradiation space information for the target part based on the initial state information, including: Based on the relative spatial position information, determine the relative azimuth information between the global surface of the target part and the ultrasonic irradiation device of the treatment bed; based on the relative azimuth information, determine the desired ultrasonic irradiation space information for the target part.

[0035] The beneficial effects of the above technical solutions are as follows: Target objects such as patients need to lie on the treatment bed for ultrasonic detection during the ultrasonic detection and treatment process, and the ultrasonic irradiation device configured on the treatment bed will irradiate ultrasonic beams to the corresponding body parts of the patients. Therefore, the relative azimuth angle relationship and relative distance relationship between the ultrasonic irradiation device and the patients (especially the corresponding body parts) will affect the irradiation alignment degree and irradiation intensity of the ultrasonic beams on the patients. In order to ensure that the ultrasonic beams emitted by the ultrasonic irradiation device can be aligned with the corresponding body parts of the patients for irradiation with sufficient intensity, it is necessary to accurately and real-time adjust the relative azimuth angle relationship and relative distance between the ultrasonic irradiation device and the patients. In addition, in order to avoid equipment damage caused by directly adjusting the ultrasonic irradiation device, usually, the lying posture and lying height of the patients in space are changed to adjust the relative azimuth angle relationship and relative distance between the ultrasonic irradiation device and the patients. Specifically, the attitude angle and height of the treatment bed itself can be changed by driving the electric rotating component and electric lifting component on the treatment bed, so as to synchronously change the lying attitude angle and height of the patients, and then change the relative azimuth angle relationship and relative distance between the ultrasonic irradiation device and the patients.

[0036] In order to accurately align the ultrasonic beam emitted by the ultrasonic irradiation device with the target part on the body of the target object for irradiation, first, a three-dimensional photographing is performed on the target object located on the treatment bed for ultrasonic detection to obtain a three-dimensional image of the target object, and the body surface contour feature information of the target object and the contour feature information of the outer shape structure of the treatment bed are identified from the three-dimensional image, so as to accurately represent the spatial position and shape of the body of the target object and the outer shape of the treatment bed in three-dimensional space. The edge contour feature information of the corresponding target part on the body of the target object is also extracted from the body surface contour feature information to globally represent the spatial position and shape of the overall outer contour of the target part in three-dimensional space. And the edge contour feature information is compared with the contour feature information of the outer shape structure in space to determine the relative spatial position information between the outer edge of the target part and the treatment bed, so as to accurately represent the relative orientation between the target part of the target object and the treatment bed. During the actual ultrasonic detection and treatment process, it is necessary to accurately irradiate the global surface of the target part on the body of the target object with the ultrasonic beam, that is, the global surface of the target part defines the spatial range that the ultrasonic beam should irradiate. Therefore, based on this relative spatial position information, the relative orientation information between the global surface of the target part and the ultrasonic irradiation device of the treatment bed is determined, so as to determine the desired ultrasonic irradiation space information of the target part, where the desired ultrasonic irradiation space information refers to the size of the spatial solid angle range formed by the ultrasonic wave in three-dimensional space when the global surface of the target part is completely irradiated with the ultrasonic wave.

[0037] Preferably, the ultrasonic irradiation space deviation determination module is used to determine the ultrasonic irradiation space deviation information of the ultrasonic irradiation device for the target part based on the desired ultrasonic irradiation space information and the actual ultrasonic irradiation space information of the ultrasonic irradiation device of the treatment bed, including: Based on the focusing element parameters of the ultrasonic irradiation device of the treatment bed, determine the actual ultrasonic irradiation space solid angle range information of the ultrasonic irradiation device, and use this as the actual ultrasonic irradiation space information of the ultrasonic irradiation device; compare the desired ultrasonic irradiation space solid angle range information corresponding to the desired ultrasonic irradiation space information with the actual ultrasonic irradiation space solid angle range information to determine the ultrasonic irradiation space solid angle deviation information of the ultrasonic irradiation device for the target part; The first attitude adjustment module is used to perform a first attitude adjustment on the treatment bed based on the ultrasonic irradiation space deviation information, including: Based on the ultrasonic irradiation space solid angle deviation information, determine the deviation attitude angle between the global surface of the target part and the actual ultrasonic irradiation cross-section of the ultrasonic irradiation device; based on the deviation attitude angle, adjust the supporting attitude of the treatment bed for the target object, so that the actual ultrasonic irradiation solid angle range of the ultrasonic irradiation device completely covers the desired ultrasonic irradiation space solid angle range.

[0038] The beneficial effects of the above technical solution are as follows: The ultrasonic irradiation device uses a transducer to generate an original ultrasonic beam, and then uses a focusing element to focus the original ultrasonic beam, changing the irradiation range of the original ultrasonic beam (i.e., narrowing the irradiation range of the original ultrasonic wave). This can not only improve the energy concentration degree of the ultrasonic beam, but also effectively narrow the divergence angle of the ultrasonic beam, ensuring that the ultrasonic beam emitted by the ultrasonic irradiation device can irradiate the target area with high energy. In order to align the target area with the irradiation space range of the ultrasonic beam emitted by the ultrasonic irradiation device, based on the focusing element parameters of the ultrasonic irradiation device on the treatment couch (such as the divergence angle reduction coefficient of the focusing element for the ultrasonic beam), the actual ultrasonic irradiation space solid angle range information of the ultrasonic irradiation device is determined. Then, the expected ultrasonic irradiation space solid angle range information corresponding to the expected ultrasonic irradiation space information is compared with the actual ultrasonic irradiation space solid angle range information to determine the ultrasonic irradiation space solid angle deviation information of the ultrasonic irradiation device for the target area, and based on this, the deviation attitude angle between the global surface of the target area and the actual ultrasonic irradiation cross-section of the ultrasonic irradiation device is determined, which is convenient for subsequent adjustment and change of at least one of the pitch angle, yaw angle, and roll angle of the electric rotating component of the treatment couch based on this deviation attitude angle, so as to synchronously adjust the supporting attitude of the target object, so that the actual ultrasonic irradiation solid angle range of the ultrasonic irradiation device completely covers the expected ultrasonic irradiation space solid angle range, and accurately drives the target object to move and align with the ultrasonic irradiation device during the adjustment of the treatment couch attitude, ensuring that the global surface of the target area can receive effective ultrasonic irradiation.

[0039] Preferably, the thermal sensation recognition module is used to collect the dynamic thermal sensation images during the process of the target area receiving ultrasonic irradiation, and obtain the global temperature change information of the target area from the dynamic thermal sensation images, including: Collect the dynamic infrared thermal sensation images during the process of the target area receiving ultrasonic irradiation, perform frame-by-frame processing on the dynamic infrared thermal sensation images to obtain a number of infrared thermal sensation image frames; perform temperature recognition processing on all infrared thermal sensation image frames to obtain the global temperature distribution information of the target area of each infrared thermal sensation image frame; perform time evolution analysis on the global temperature distribution information corresponding to all infrared thermal sensation image frames to obtain the global temperature change information of the target area; wherein, the global temperature change information refers to the temperature change rate information of each sub-region under the target area. The ultrasonic irradiation anomaly positioning module is used to determine the ultrasonic irradiation anomaly sub-region of the target area based on the global temperature change information, including: Based on the global temperature change information, predict whether each sub-region under the target area reaches the target temperature value within a predetermined time interval; if not, determine that the corresponding sub-region belongs to the ultrasonic irradiation anomaly sub-region of the target area; if so, determine that the corresponding sub-region does not belong to the ultrasonic irradiation anomaly sub-region of the target area.

[0040] The beneficial effects of the above technical solution are as follows: During the process of the target site receiving ultrasonic irradiation, its own temperature will continuously rise. However, the ultrasonic irradiation energy received by different sub-regions on the global surface of the target site is different, and the biological tissue structures of different sub-regions on the global surface of the target site are also different, resulting in different temperature rise situations (such as the temperature rise rate) of different sub-regions under ultrasonic irradiation. In order to accurately and comprehensively identify the temperature rise situation of the target site under ultrasonic irradiation, dynamic infrared thermal images of the target site during the process of receiving ultrasonic irradiation are collected and analyzed to obtain the global temperature change information of the target site, and accurately characterize the temperature change rate of each sub-region under the target site. Then, based on the global temperature change information, it is predicted whether each sub-region under the target site will reach the target temperature value within a predetermined time interval, so as to identify the ultrasonic irradiation abnormal sub-region within the target site, providing a reliable basis for subsequent closer ultrasonic irradiation of the ultrasonic irradiation abnormal sub-region.

[0041] Preferably, the irradiation space interval determination module is used to determine the target irradiation space interval information of the ultrasonic irradiation device for the irradiation abnormal sub-region based on the ultrasonic irradiation abnormal sub-region and the ultrasonic transmission attenuation space characteristics emitted by the ultrasonic irradiation device, including: Based on the occupied space range of the ultrasonic irradiation abnormal sub-region on the surface of the target site, determine the actual ultrasonic energy information received by the ultrasonic irradiation abnormal sub-region; based on the actual ultrasonic energy information and the target received ultrasonic energy information, determine the ultrasonic irradiation energy gap information of the ultrasonic irradiation abnormal sub-region; based on the ultrasonic irradiation energy gap information and the intensity attenuation rate characteristics of the ultrasonic wave emitted by the ultrasonic irradiation device on the transmission path from the ultrasonic irradiation device to the ultrasonic irradiation abnormal sub-region, determine the target irradiation straight-line distance information of the ultrasonic irradiation device for the irradiation abnormal sub-region, and use this as the target irradiation space interval information; The second attitude adjustment module is used to perform a second attitude adjustment on the treatment bed based on the target irradiation space interval information, including: Based on the target irradiation straight-line distance information, adjust the supporting height of the treatment bed for the target object, so that the distance between the ultrasonic irradiation device and the target site is less than or equal to the target irradiation straight-line distance.

[0042] The beneficial effects of the above technical solution are as follows: Based on the occupied space range (i.e., the occupied area range) of the abnormal sub-region irradiated by ultrasonic waves on the surface of the target site, the actual ultrasonic energy value received by the abnormal sub-region irradiated by ultrasonic waves is determined; generally speaking, the occupied area range of the abnormal sub-region irradiated by ultrasonic waves is positively correlated with the actual ultrasonic energy value received. Then, the actual ultrasonic energy value received by the abnormal sub-region irradiated by ultrasonic waves is compared with the preset target received ultrasonic energy value of the abnormal sub-region irradiated by ultrasonic waves, and the difference between the two is used as the ultrasonic irradiation energy gap value of the abnormal sub-region irradiated by ultrasonic waves. The ultrasonic beam emitted by the ultrasonic irradiation device will undergo intensity attenuation on the spatial path when it is transmitted to the abnormal sub-region irradiated by ultrasonic waves. When the length of the spatial path is larger, the intensity attenuation amplitude of the ultrasonic beam is larger, so that the abnormal sub-region irradiated by ultrasonic waves cannot receive ultrasonic irradiation with sufficient energy and cannot quickly rise to the corresponding temperature. When the length of the spatial path becomes smaller (i.e., the straight-line distance between the ultrasonic irradiation device and the abnormal sub-region irradiated by ultrasonic waves becomes smaller), the ultrasonic energy received by the abnormal sub-region irradiated by ultrasonic waves also becomes larger, thereby compensating for the ultrasonic irradiation energy gap value of the abnormal sub-region irradiated by ultrasonic waves. In order to enable the abnormal sub-region irradiated by ultrasonic waves to receive ultrasonic irradiation with sufficient energy, based on the ultrasonic irradiation energy gap information and the intensity attenuation rate characteristics of the ultrasonic waves emitted by the ultrasonic irradiation device on the transmission path from the ultrasonic irradiation device to the abnormal sub-region irradiated by ultrasonic waves, the target irradiation straight-line distance of the ultrasonic irradiation device to the abnormal sub-region irradiated is determined. And based on the target irradiation straight-line distance, the electric lifting component of the treatment bed is controlled to perform a lifting action, so as to synchronously adjust the supporting height of the target object, so that the distance between the ultrasonic irradiation device and the target site is less than or equal to the target irradiation straight-line distance, shorten the distance between the abnormal sub-region irradiated by ultrasonic waves and the ultrasonic irradiation device, and improve the ultrasonic energy received by the abnormal sub-region irradiated by ultrasonic waves.

[0043] As can be seen from the content of the above embodiments, the intelligent attitude adjustment method and system for ultrasonic detection visually identify the initial state information of the target site on the target object located on the treatment bed for ultrasonic detection, thereby determining the expected ultrasonic irradiation space information, and comparing it with the actual ultrasonic irradiation space information of the ultrasonic irradiation device to obtain the ultrasonic irradiation space deviation information, and thereby performing the first attitude adjustment on the treatment bed, so that the treatment bed can accurately drive the target object to move and align with the ultrasonic irradiation device during the attitude adjustment process; it also thermally senses the global temperature change information during the process of the target site receiving ultrasonic irradiation, determines the abnormal sub-region irradiated by ultrasonic waves, and combines the ultrasonic transmission attenuation space characteristics to determine the target irradiation space interval information of the ultrasonic irradiation device for the abnormal sub-region irradiated, and thereby performs the second attitude adjustment on the treatment bed to shorten the distance between the target site and the ultrasonic irradiation device, ensure that the target site receives ultrasonic energy, and improve the treatment efficiency and reliability.

[0044] Obviously, those skilled in the art can make various modifications and variations to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention also intends to include these modifications and variations.

Claims

1. An intelligent posture adjustment method for ultrasonic detection, characterized in that: It includes the following steps: Step S1, collecting an image of a target object located on a treatment bed for ultrasonic detection, and obtaining initial state information of a target part on the target object from the image recognition; based on the initial state information, determining expected ultrasonic irradiation spatial information for the target part; Step S2, determining the ultrasonic irradiation space deviation information of the ultrasonic irradiation device to the target part based on the expected ultrasonic irradiation space information and the actual ultrasonic irradiation space information of the ultrasonic irradiation device of the treatment bed; and performing a first posture adjustment on the treatment bed based on the ultrasonic irradiation space deviation information; Step S3, collecting dynamic thermal images of the target part receiving ultrasonic irradiation, and obtaining global temperature change information of the target part from the dynamic thermal images; and determining the ultrasonic irradiation abnormal sub-region of the target part based on the global temperature change information; Step S4, based on the ultrasonic irradiation abnormal sub-region and the ultrasonic transmission attenuation spatial characteristics emitted by the ultrasonic irradiation device, determine the target irradiation spatial interval information of the ultrasonic irradiation device for the irradiation abnormal sub-region; based on the target irradiation spatial interval information, perform a second posture adjustment on the treatment bed.

2. The intelligent posture adjustment method for ultrasonic detection according to claim 1, characterized in that: In the step S1, an image of a target object located on a treatment bed for ultrasonic testing is collected, and initial state information of a target part on the target object is obtained from the image recognition; Determining desired ultrasonic irradiation spatial information of the target part based on the initial state information includes: Performing three-dimensional photography on a target object on a treatment bed for ultrasonic detection to obtain a three-dimensional image of the target object; performing pixel contour recognition on the three-dimensional image to obtain body surface contour feature information of the target object and contour feature information of the outer structure of the treatment bed; Extracting edge contour feature information of a target part on the target object from the body surface contour feature information, spatially comparing the edge contour feature information with the outer structure contour feature information, and determining relative spatial position information between the outer edge of the target part and the treatment bed, using this as initial state information of the target object; Based on the relative spatial position information, the relative orientation information of the global surface of the target part and the ultrasonic irradiation device of the treatment bed is determined; based on the relative orientation information, the desired ultrasonic irradiation spatial information of the target part is determined.

3. The intelligent posture adjustment method for ultrasonic detection according to claim 1, characterized in that: In the step S2, based on the expected ultrasonic irradiation space information and the actual ultrasonic irradiation space information of the ultrasonic irradiation device of the treatment bed, the ultrasonic irradiation space deviation information of the ultrasonic irradiation device to the target part is determined; based on the ultrasonic irradiation space deviation information, the treatment bed is adjusted to a first posture, including: Based on the focusing element parameters of the ultrasonic irradiation device of the treatment bed, determine the actual ultrasonic irradiation space solid angle range information of the ultrasonic irradiation device, and use it as the actual ultrasonic irradiation space information of the ultrasonic irradiation device; compare the expected ultrasonic irradiation space solid angle range information corresponding to the expected ultrasonic irradiation space information with the actual ultrasonic irradiation space solid angle range information, and determine the ultrasonic irradiation space solid angle deviation information of the ultrasonic irradiation device to the target part; Based on the ultrasonic irradiation space solid angle deviation information, the deviation attitude angle between the global surface of the target part and the actual ultrasonic irradiation cross-section of the ultrasonic irradiation equipment is determined; based on the deviation attitude angle, the supporting attitude of the treatment bed to the target object is adjusted, so that the actual ultrasonic irradiation solid angle range of the ultrasonic irradiation equipment completely covers the expected ultrasonic irradiation space solid angle range.

4. The intelligent posture adjustment method for ultrasonic detection according to claim 1, characterized in that: In step S3, a dynamic thermal image of the target part receiving ultrasonic irradiation is collected, and global temperature change information of the target part is obtained from the dynamic thermal image recognition; and based on the global temperature change information, an abnormal sub-region of ultrasonic irradiation of the target part is determined, including: The dynamic infrared thermal image of the target part receiving ultrasonic irradiation is collected, and the dynamic infrared thermal image is framed to obtain a plurality of infrared thermal image frames; temperature recognition is performed on all infrared thermal image frames to obtain global temperature distribution information of the target part of all infrared thermal image frames; time evolution analysis is performed on the global temperature distribution information corresponding to all infrared thermal image frames to obtain global temperature change information of the target part; wherein the global temperature change information refers to the temperature change rate information of each sub-region under the target part; Based on the global temperature change information, it is predicted whether each sub-region under the target part reaches the target temperature value within a predetermined time interval; if not, it is determined that the corresponding sub-region belongs to the abnormal sub-region of ultrasonic irradiation of the target part; if so, it is determined that the corresponding sub-region does not belong to the abnormal sub-region of ultrasonic irradiation of the target part.

5. The intelligent posture adjustment method for ultrasonic detection according to claim 1, characterized in that: In the step S4, based on the ultrasonic irradiation abnormal sub-region and the ultrasonic transmission attenuation spatial characteristics emitted by the ultrasonic irradiation device, the target irradiation spatial interval information of the ultrasonic irradiation device on the irradiation abnormal sub-region is determined; based on the target irradiation spatial interval information, the treatment bed is adjusted to a second posture, including: Based on the spatial range occupied by the ultrasonic irradiation abnormal sub-region on the surface of the target part, determine the actual ultrasonic energy information received by the ultrasonic irradiation abnormal sub-region; based on the actual ultrasonic energy information and the target received ultrasonic energy information, determine the ultrasonic irradiation energy gap information of the ultrasonic irradiation abnormal sub-region; based on the ultrasonic irradiation energy gap information and the intensity attenuation rate characteristics of the ultrasonic wave emitted by the ultrasonic irradiation device on the transmission path from the ultrasonic irradiation device to the ultrasonic irradiation abnormal sub-region, determine the target irradiation straight-line distance information of the irradiation abnormal sub-region by the ultrasonic irradiation device, and use it as the target irradiation spatial interval information; Based on the target irradiation straight-line distance information, the support height of the treatment bed for the target object is adjusted so that the distance between the ultrasonic irradiation device and the target part is less than or equal to the target irradiation straight-line distance.

6. An intelligent posture adjustment system for ultrasonic detection, characterized in that: include: A visual recognition module, used to collect an image of a target object located on a treatment bed for ultrasonic testing, and obtain initial state information of a target part on the target object from the image recognition; An ultrasonic irradiation spatial positioning module, used to determine the desired ultrasonic irradiation spatial information for the target part based on the initial state information; an ultrasonic irradiation space deviation determination module, configured to determine the ultrasonic irradiation space deviation information of the ultrasonic irradiation device to the target part based on the expected ultrasonic irradiation space information and the actual ultrasonic irradiation space information of the ultrasonic irradiation device of the treatment bed; A first posture adjustment module, configured to perform a first posture adjustment on the treatment bed based on the ultrasonic irradiation spatial deviation information; A thermal recognition module is used to collect dynamic thermal images of the target part during the process of receiving ultrasonic irradiation, and obtain global temperature change information of the target part from the dynamic thermal image recognition; An ultrasonic irradiation abnormality positioning module is used to determine the ultrasonic irradiation abnormality sub-region of the target part based on the global temperature change information; an irradiation space interval determination module, used to determine target irradiation space interval information of the irradiation abnormal sub-region by the ultrasonic irradiation device based on the ultrasonic irradiation abnormal sub-region and the ultrasonic transmission attenuation spatial characteristics emitted by the ultrasonic irradiation device; The second posture adjustment module is used to perform a second posture adjustment on the treatment bed based on the target irradiation space interval information.

7. The intelligent posture adjustment system for ultrasonic detection according to claim 6, characterized in that: The visual recognition module is used to collect an image of a target object located on a treatment bed for ultrasonic detection, and obtain initial state information of a target part on the target object from the image recognition, including: Performing three-dimensional photography on a target object on a treatment bed for ultrasonic detection to obtain a three-dimensional image of the target object; performing pixel contour recognition on the three-dimensional image to obtain body surface contour feature information of the target object and contour feature information of the outer structure of the treatment bed; Extracting edge contour feature information of a target part on the target object from the body surface contour feature information, spatially comparing the edge contour feature information with the outer structure contour feature information, and determining relative spatial position information between the outer edge of the target part and the treatment bed, and using this as initial state information of the target object; The ultrasonic irradiation spatial positioning module is used to determine the expected ultrasonic irradiation spatial information of the target part based on the initial state information, including: Based on the relative spatial position information, the relative orientation information of the global surface of the target part and the ultrasonic irradiation device of the treatment bed is determined; based on the relative orientation information, the desired ultrasonic irradiation spatial information of the target part is determined.

8. The intelligent posture adjustment system for ultrasonic detection according to claim 6, characterized in that: The ultrasonic irradiation space deviation determination module is used to determine the ultrasonic irradiation space deviation information of the ultrasonic irradiation device to the target part based on the expected ultrasonic irradiation space information and the actual ultrasonic irradiation space information of the ultrasonic irradiation device of the treatment bed, including: Based on the focusing element parameters of the ultrasonic irradiation device of the treatment bed, determine the actual ultrasonic irradiation space solid angle range information of the ultrasonic irradiation device, and use it as the actual ultrasonic irradiation space information of the ultrasonic irradiation device; compare the expected ultrasonic irradiation space solid angle range information corresponding to the expected ultrasonic irradiation space information with the actual ultrasonic irradiation space solid angle range information, and determine the ultrasonic irradiation space solid angle deviation information of the ultrasonic irradiation device to the target part; The first posture adjustment module is used to perform a first posture adjustment on the treatment bed based on the ultrasonic irradiation space deviation information, including: Based on the ultrasonic irradiation space solid angle deviation information, the deviation attitude angle between the global surface of the target part and the actual ultrasonic irradiation cross-section of the ultrasonic irradiation equipment is determined; based on the deviation attitude angle, the supporting attitude of the treatment bed to the target object is adjusted, so that the actual ultrasonic irradiation solid angle range of the ultrasonic irradiation equipment completely covers the expected ultrasonic irradiation space solid angle range.

9. The intelligent posture adjustment system for ultrasonic detection according to claim 6, characterized in that: The thermal recognition module is used to collect dynamic thermal images of the target part receiving ultrasonic irradiation, and obtain global temperature change information of the target part from the dynamic thermal image recognition, including: The dynamic infrared thermal image of the target part receiving ultrasonic irradiation is collected, and the dynamic infrared thermal image is framed to obtain a plurality of infrared thermal image frames; temperature recognition is performed on all infrared thermal image frames to obtain global temperature distribution information of the target part of all infrared thermal image frames; time evolution analysis is performed on the global temperature distribution information corresponding to all infrared thermal image frames to obtain global temperature change information of the target part; wherein the global temperature change information refers to the temperature change rate information of each sub-region under the target part; The ultrasonic irradiation abnormality positioning module is used to determine the ultrasonic irradiation abnormality sub-region of the target part based on the global temperature change information, including: Based on the global temperature change information, it is predicted whether each sub-region under the target part reaches the target temperature value within a predetermined time interval; if not, it is determined that the corresponding sub-region belongs to the abnormal sub-region of ultrasonic irradiation of the target part; if so, it is determined that the corresponding sub-region does not belong to the abnormal sub-region of ultrasonic irradiation of the target part.

10. The intelligent posture adjustment system for ultrasonic testing according to claim 6, characterized in that: The irradiation space interval determination module is used to determine the target irradiation space interval information of the irradiation abnormal sub-region by the ultrasonic irradiation device based on the ultrasonic irradiation abnormal sub-region and the ultrasonic transmission attenuation spatial characteristics emitted by the ultrasonic irradiation device, including: Based on the spatial range occupied by the ultrasonic irradiation abnormal sub-region on the surface of the target part, determine the actual ultrasonic energy information received by the ultrasonic irradiation abnormal sub-region; based on the actual ultrasonic energy information and the target received ultrasonic energy information, determine the ultrasonic irradiation energy gap information of the ultrasonic irradiation abnormal sub-region; based on the ultrasonic irradiation energy gap information and the intensity attenuation rate characteristics of the ultrasonic wave emitted by the ultrasonic irradiation device on the transmission path from the ultrasonic irradiation device to the ultrasonic irradiation abnormal sub-region, determine the target irradiation straight-line distance information of the irradiation abnormal sub-region by the ultrasonic irradiation device, and use it as the target irradiation spatial interval information; The second posture adjustment module is used to perform a second posture adjustment on the treatment bed based on the target irradiation space interval information, including: Based on the target irradiation straight-line distance information, the support height of the treatment bed for the target object is adjusted so that the distance between the ultrasonic irradiation device and the target part is less than or equal to the target irradiation straight-line distance.

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