An intelligent posture adjustment method and system for ultrasonic detection

Abstract

The application relates to the field of ultrasonic treatment, in particular to an intelligent posture adjusting method and system for ultrasonic detection, which visually recognizes initial state information of a target part on a target object located on a treatment bed for ultrasonic detection, determines expected ultrasonic irradiation space information according to the initial state information, compares the expected ultrasonic irradiation space information with actual ultrasonic irradiation space information of an ultrasonic irradiation device, obtains ultrasonic irradiation space deviation information, and adjusts a first posture of the treatment bed according to the ultrasonic irradiation space deviation information, so as to accurately drive the target object to move and align with the ultrasonic irradiation device; the application also thermally recognizes global temperature change information of a target part during ultrasonic irradiation, determines an ultrasonic irradiation abnormal sub-region, combines ultrasonic transmission attenuation space characteristics, determines target irradiation space interval information of the ultrasonic irradiation device to the irradiation abnormal sub-region, adjusts a second posture of the treatment bed according to the target irradiation space interval information, shortens the distance between the target part and the ultrasonic irradiation device, and improves treatment efficiency and reliability.

Description

Technical Field

[0001] This invention relates to the technical field of ultrasonic testing, and in particular to an intelligent posture adjustment method and system for ultrasonic testing. Background Technology

[0002] Ultrasound therapy utilizes high-frequency, high-energy ultrasound waves to irradiate a part of the patient's body. The diseased tissue in this area heats up under the influence of ultrasound waves. When the temperature rises to a certain level, protein denaturation occurs in the diseased tissue, thereby inhibiting its proliferation and achieving non-invasive treatment. To improve the efficiency and repeatability of ultrasound therapy, an ultrasound treatment bed is used to assist the treatment process. This bed supports the patient and can adjust its own posture to change the patient's position. During actual treatment, the ultrasound beam emitted by the irradiation device must accurately irradiate the body to ensure efficient transmission of ultrasound energy to the diseased tissue and improve its heating efficiency. Although existing treatment beds are equipped with electrically operated lifting and rotating components, allowing manual adjustment of the patient's posture, this adjustment process cannot be performed based on the relative position of the ultrasound irradiation device and the patient's body, nor on the temperature rise of the patient's body. This cannot guarantee that the patient's body will consistently receive sufficient intensity of ultrasound irradiation throughout the treatment, reducing treatment efficiency and reliability. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides an intelligent posture adjustment method and system for ultrasonic testing. The method visually identifies the initial state information of a target area on a treatment bed used for ultrasonic testing, thereby determining the desired ultrasonic irradiation space information. This information is then compared with the actual ultrasonic irradiation space information of the ultrasonic irradiation device to obtain ultrasonic irradiation space deviation information. This information is used to perform a first posture adjustment on the treatment bed, ensuring that the treatment bed accurately moves the target object and aligns it with the ultrasonic irradiation device during the posture adjustment process. Furthermore, the method uses thermal sensing to identify global temperature changes in the target area during ultrasonic irradiation, identifying abnormal ultrasonic irradiation sub-regions. Combined with the spatial characteristics of ultrasonic transmission attenuation, this information is used to determine the target irradiation space interval information of the ultrasonic irradiation device for the abnormal sub-regions. This information is used to perform a second posture adjustment on the treatment bed, bringing the target area closer to the ultrasonic irradiation device, ensuring that the target area receives ultrasonic energy, and improving treatment efficiency and reliability.

[0004] This invention provides an intelligent attitude adjustment method for ultrasonic testing, comprising the following steps:

[0005] Step S1: Acquire an image of the target object located on the treatment bed for ultrasound 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 desired ultrasound irradiation space information for the target part;

[0006] 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 bed, determine the ultrasonic irradiation space deviation information of the ultrasonic irradiation device for the target area; based on the ultrasonic irradiation space deviation information, perform a first posture adjustment on the treatment bed.

[0007] Step S3: Acquire dynamic thermal images of the target area during the ultrasonic irradiation process, and identify global temperature change information of the target area from the dynamic thermal images; based on the global temperature change information, determine the abnormal sub-regions of ultrasonic irradiation of the target area.

[0008] Step S4: Based on the abnormal sub-region of ultrasonic irradiation and the spatial characteristics of ultrasonic wave transmission attenuation emitted by the ultrasonic irradiation device, determine the target irradiation spatial interval information of the ultrasonic irradiation device for the abnormal sub-region; based on the target irradiation spatial interval information, adjust the second posture of the treatment bed.

[0009] In one embodiment of this application, in step S1, an image of the target object located on a treatment bed for ultrasound detection is acquired, and initial state information of the target part on the target object is identified from the image; based on the initial state information, the desired ultrasound irradiation spatial information for the target part is determined, including:

[0010] A three-dimensional image of the target object is obtained by taking a three-dimensional photograph of the target object on the ultrasound testing bed; pixel contour recognition is performed on the three-dimensional image to obtain the body surface contour feature information of the target object and the external structural contour feature information of the treatment bed.

[0011] The edge contour feature information of the target part on the target object is extracted from the body surface contour feature information. The edge contour feature information is spatially compared with the external structure contour feature information to determine the relative spatial position information of the outer edge of the target part and the treatment bed, which is used as the initial state information of the target object.

[0012] Based on the relative spatial location information, the relative orientation information between the global surface of the target area 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 area is determined.

[0013] In one embodiment of this application, 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 bed, the ultrasonic irradiation space deviation information of the ultrasonic irradiation device for the target area is determined; based on the ultrasonic irradiation space deviation information, the treatment bed is adjusted in a first posture, including:

[0014] Based on the focusing element parameters of the ultrasonic irradiation device of the treatment bed, the actual ultrasonic irradiation spatial solid angle range information of the ultrasonic irradiation device is determined, and this is used as the actual ultrasonic irradiation spatial information of the ultrasonic irradiation device; the expected ultrasonic irradiation spatial solid angle range information corresponding to the expected ultrasonic irradiation spatial information is compared with the actual ultrasonic irradiation spatial solid angle range information to determine the ultrasonic irradiation spatial solid angle deviation information of the ultrasonic irradiation device for the target part.

[0015] Based on the ultrasonic irradiation spatial solid angle deviation information, the deviation angle between the global surface of the target area and the actual ultrasonic irradiation cross section of the ultrasonic irradiation device is determined; based on the deviation angle, the support posture of the treatment bed on the target object is adjusted so that the actual ultrasonic irradiation solid angle range of the ultrasonic irradiation device completely covers the desired ultrasonic irradiation spatial solid angle range.

[0016] In one embodiment of this application, in step S3, dynamic thermal images of the target area receiving ultrasonic irradiation are acquired, and global temperature change information of the target area is identified from the dynamic thermal images; based on the global temperature change information, abnormal sub-regions of ultrasonic irradiation of the target area are determined, including:

[0017] Dynamic infrared thermal images of the target area receiving ultrasonic irradiation are acquired. These images are then segmented into frames to obtain several infrared thermal image frames. Temperature identification processing is performed on all infrared thermal image frames to obtain the global temperature distribution information of the target area for each frame. Time evolution analysis is then performed on the global temperature distribution information corresponding to all infrared thermal image frames to obtain the global temperature change information of the target area. The global temperature change information refers to the temperature change rate information of each sub-region under the target area.

[0018] Based on the global temperature change information, it is predicted whether each sub-region under the target part will reach the target temperature value within a predetermined time interval; if not, the corresponding sub-region is determined to belong to the abnormal ultrasonic irradiation sub-region of the target part; if so, the corresponding sub-region is determined not to belong to the abnormal ultrasonic irradiation sub-region of the target part.

[0019] In one embodiment of this application, in step S4, based on the abnormal sub-region of ultrasonic irradiation and the spatial characteristics of ultrasonic wave transmission attenuation emitted by the ultrasonic irradiation device, the target irradiation spatial interval information of the ultrasonic irradiation device for the abnormal sub-region is determined; based on the target irradiation spatial interval information, the second posture adjustment of the treatment bed is performed, including:

[0020] Based on the spatial range occupied by the abnormal ultrasonic irradiation sub-region on the surface of the target area, the actual ultrasonic energy information received by the abnormal ultrasonic irradiation sub-region is determined; based on the actual ultrasonic energy information and the ultrasonic energy information received by the target, the ultrasonic irradiation energy gap information of the abnormal ultrasonic irradiation sub-region is determined; based on the ultrasonic irradiation energy gap information and the intensity attenuation rate characteristics of the ultrasonic waves emitted by the ultrasonic irradiation device along the transmission path from the ultrasonic irradiation device to the abnormal ultrasonic irradiation sub-region, the target irradiation straight-line distance information of the ultrasonic irradiation device to the abnormal irradiation sub-region is determined, and this is used as the target irradiation spatial interval information.

[0021] 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.

[0022] This invention also provides an intelligent attitude adjustment system for ultrasonic detection, comprising:

[0023] The visual recognition module is used to acquire images of the target object located on the treatment bed for ultrasound detection, and to identify the initial state information of the target part on the target object from the image;

[0024] An ultrasonic irradiation spatial positioning module is used to determine the desired ultrasonic irradiation spatial information for the target part based on the initial state information.

[0025] An ultrasonic irradiation spatial deviation determination module is used to determine the ultrasonic irradiation spatial deviation information of the ultrasonic irradiation device on the target part based on the desired ultrasonic irradiation spatial information and the actual ultrasonic irradiation spatial information of the ultrasonic irradiation device of the treatment bed.

[0026] The first posture adjustment module is used to adjust the first posture of the treatment bed based on the ultrasonic irradiation spatial deviation information.

[0027] The thermal sensing module is used to acquire dynamic thermal images of the target area during the process of receiving ultrasonic irradiation, and to identify global temperature change information of the target area from the dynamic thermal images.

[0028] An ultrasonic irradiation anomaly localization module is used to determine the ultrasonic irradiation anomaly sub-region of the target location based on the global temperature change information.

[0029] 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 spatial characteristics of ultrasonic transmission attenuation emitted by the ultrasonic irradiation device.

[0030] The second posture adjustment module is used to adjust the second posture of the treatment bed based on the target irradiation spatial interval information.

[0031] In one embodiment disclosed in this application, the visual recognition module is used to acquire an image of a target object located on a treatment bed for ultrasound detection, and to identify initial state information of a target part on the target object from the image, including:

[0032] A three-dimensional image of the target object is obtained by taking a three-dimensional photograph of the target object on the ultrasound testing bed; pixel contour recognition is performed on the three-dimensional image to obtain the body surface contour feature information of the target object and the external structural contour feature information of the treatment bed.

[0033] The edge contour feature information of the target part on the target object is extracted from the body surface contour feature information. The edge contour feature information is spatially compared with the external structure contour feature information to determine the relative spatial position information of the outer edge of the target part and the treatment bed, which is used as the initial state information of the target object.

[0034] The ultrasonic irradiation spatial positioning module is used to determine the desired ultrasonic irradiation spatial information for the target area based on the initial state information, including:

[0035] Based on the relative spatial location information, the relative orientation information between the global surface of the target area 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 area is determined.

[0036] In one embodiment of this application, the ultrasonic irradiation spatial deviation determination module is used to determine the ultrasonic irradiation spatial deviation information of the ultrasonic irradiation device on the target area based on the desired ultrasonic irradiation spatial information and the actual ultrasonic irradiation spatial information of the ultrasonic irradiation device of the treatment bed, including:

[0037] Based on the focusing element parameters of the ultrasonic irradiation device of the treatment bed, the actual ultrasonic irradiation spatial solid angle range information of the ultrasonic irradiation device is determined, and this is used as the actual ultrasonic irradiation spatial information of the ultrasonic irradiation device; the expected ultrasonic irradiation spatial solid angle range information corresponding to the expected ultrasonic irradiation spatial information is compared with the actual ultrasonic irradiation spatial solid angle range information to determine the ultrasonic irradiation spatial solid angle deviation information of the ultrasonic irradiation device for the target part.

[0038] The first posture adjustment module is used to adjust the posture of the treatment bed based on the spatial deviation information of the ultrasonic irradiation, including:

[0039] Based on the ultrasonic irradiation spatial solid angle deviation information, the deviation angle between the global surface of the target area and the actual ultrasonic irradiation cross section of the ultrasonic irradiation device is determined; based on the deviation angle, the support posture of the treatment bed on the target object is adjusted so that the actual ultrasonic irradiation solid angle range of the ultrasonic irradiation device completely covers the desired ultrasonic irradiation spatial solid angle range.

[0040] In one embodiment disclosed in this application, the thermal sensing module is used to acquire dynamic thermal images of the target area during the process of receiving ultrasonic irradiation, and to identify global temperature change information of the target area from the dynamic thermal images, including:

[0041] Dynamic infrared thermal images of the target area receiving ultrasonic irradiation are acquired. These images are then segmented into frames to obtain several infrared thermal image frames. Temperature identification processing is performed on all infrared thermal image frames to obtain the global temperature distribution information of the target area for each frame. Time evolution analysis is then performed on the global temperature distribution information corresponding to all infrared thermal image frames to obtain the global temperature change information of the target area. The global temperature change information refers to the temperature change rate information of each sub-region under the target area.

[0042] The ultrasonic irradiation anomaly localization module is used to determine the ultrasonic irradiation anomaly sub-region of the target location based on the global temperature change information, including:

[0043] Based on the global temperature change information, it is predicted whether each sub-region under the target part will reach the target temperature value within a predetermined time interval; if not, the corresponding sub-region is determined to belong to the abnormal ultrasonic irradiation sub-region of the target part; if so, the corresponding sub-region is determined not to belong to the abnormal ultrasonic irradiation sub-region of the target part.

[0044] In one embodiment disclosed in this application, the irradiation spatial interval determination module is used to determine the target irradiation spatial interval information of the ultrasonic irradiation device for the irradiation abnormal sub-region based on the ultrasonic irradiation abnormal sub-region and the spatial characteristics of ultrasonic wave transmission attenuation emitted by the ultrasonic irradiation device, including:

[0045] Based on the spatial range occupied by the abnormal ultrasonic irradiation sub-region on the surface of the target area, the actual ultrasonic energy information received by the abnormal ultrasonic irradiation sub-region is determined; based on the actual ultrasonic energy information and the ultrasonic energy information received by the target, the ultrasonic irradiation energy gap information of the abnormal ultrasonic irradiation sub-region is determined; based on the ultrasonic irradiation energy gap information and the intensity attenuation rate characteristics of the ultrasonic waves emitted by the ultrasonic irradiation device along the transmission path from the ultrasonic irradiation device to the abnormal ultrasonic irradiation sub-region, the target irradiation straight-line distance information of the ultrasonic irradiation device to the abnormal irradiation sub-region is determined, and this is used as the target irradiation spatial interval information.

[0046] The second posture adjustment module is used to adjust the second posture of the treatment bed based on the target irradiation spatial interval information, including:

[0047] 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.

[0048] Compared to existing technologies, this intelligent posture adjustment method and system for ultrasound detection visually recognizes the initial state information of the target area on the target object located on the ultrasound detection treatment bed. This determines the desired ultrasound irradiation space information and compares it with the actual ultrasound irradiation space information of the ultrasound irradiation equipment to obtain ultrasound irradiation space deviation information. This allows for a first posture adjustment of the treatment bed, ensuring accurate alignment of the treatment bed with the ultrasound irradiation equipment. Furthermore, it uses thermal sensing to identify global temperature changes in the target area during ultrasound irradiation, identifying abnormal sub-regions. Combined with the spatial characteristics of ultrasound transmission attenuation, it determines the target irradiation space interval information for the abnormal sub-regions, allowing for a second posture adjustment of the treatment bed. This brings the target area closer to the ultrasound irradiation equipment, ensuring the target area receives ultrasound energy and improving treatment efficiency and reliability.

[0049] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings.

[0050] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0051] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0052] Figure 1 This is a flowchart illustrating the intelligent attitude adjustment method for ultrasonic testing provided by the present invention.

[0053] Figure 2 This is a schematic diagram of the framework of the intelligent attitude adjustment system for ultrasonic detection provided by the present invention. Detailed Implementation

[0054] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0055] See Figure 1 This is a flowchart illustrating an intelligent attitude adjustment method for ultrasonic testing provided in an embodiment of the present invention. The intelligent attitude adjustment method for ultrasonic testing includes:

[0056] Step S1: Acquire an image of the target object located on the treatment bed for ultrasound detection, and obtain the initial state information of the target part on the target object from the image recognition; based on the initial state information, determine the desired ultrasound irradiation space information of the target part.

[0057] Step S2: Based on the desired ultrasonic irradiation spatial information and the actual ultrasonic irradiation spatial information of the ultrasonic irradiation device on the treatment bed, determine the ultrasonic irradiation spatial deviation information of the ultrasonic irradiation device on the target area; based on the ultrasonic irradiation spatial deviation information, perform a first posture adjustment on the treatment bed.

[0058] Step S3: Acquire dynamic thermal images of the target area during the ultrasonic irradiation process, and identify global temperature change information of the target area from the dynamic thermal images; based on the global temperature change information, determine the abnormal sub-regions of ultrasonic irradiation in the target area.

[0059] Step S4: Based on the abnormal sub-region of ultrasonic irradiation and the spatial characteristics of ultrasonic transmission attenuation emitted by the ultrasonic irradiation device, determine the target irradiation spatial interval information of the abnormal sub-region of ultrasonic irradiation device; based on the target irradiation spatial interval information, adjust the second posture of the treatment bed.

[0060] The beneficial effects of the above technical solution are as follows: The intelligent posture adjustment method for ultrasound detection visually identifies the initial state information of the target part on the target object on the ultrasound detection treatment bed, thereby determining the desired ultrasound irradiation space information. This information is then compared with the actual ultrasound irradiation space information of the ultrasound irradiation device to obtain ultrasound irradiation space deviation information. This allows for the first posture adjustment of the treatment bed, ensuring accurate movement of the target object and alignment with the ultrasound irradiation device during the posture adjustment process. Furthermore, thermal sensing identifies the global temperature change information of the target part during ultrasound irradiation, identifying abnormal sub-regions of ultrasound irradiation. Combined with the spatial characteristics of ultrasound transmission attenuation, the method determines the target irradiation space interval information of the ultrasound irradiation device for the abnormal sub-regions. This allows for the second posture adjustment of the treatment bed, bringing the target part closer to the ultrasound irradiation device, ensuring the target part receives ultrasound energy, and improving treatment efficiency and reliability.

[0061] Preferably, in step S1, an image of the target object located on the treatment bed for ultrasound detection is acquired, and initial state information of the target area on the target object is obtained from the image recognition; based on the initial state information, the desired ultrasonic irradiation spatial information for the target area is determined, including:

[0062] A three-dimensional image of the target object is obtained by taking a three-dimensional photograph of the target object on the ultrasound testing bed; pixel contour recognition is performed on the three-dimensional image to obtain the contour feature information of the target object's body surface and the contour feature information of the shape structure of the treatment bed;

[0063] The edge contour feature information of the target part on the target object is extracted from the body surface contour feature information. The edge contour feature information is spatially compared with the shape structure contour feature information to determine the relative spatial position information of the outer edge of the target part and the treatment bed, which is used as the initial state information of the target object.

[0064] Based on relative spatial location information, the relative orientation information between the global surface of the target area and the ultrasonic irradiation equipment on the treatment bed is determined; based on the relative orientation information, the desired ultrasonic irradiation spatial information of the target area is determined.

[0065] The beneficial effects of the above technical solution are as follows: During ultrasound examination and treatment, the patient or other target subject needs to lie on an ultrasound examination bed, and the ultrasound irradiation device on the bed irradiates ultrasound beams onto the corresponding body parts of the patient. Therefore, the relative azimuth and distance between the ultrasound irradiation device and the patient (especially the corresponding body parts) affect the accuracy and intensity of the ultrasound beam's irradiation. To ensure that the ultrasound beam emitted by the ultrasound irradiation device can be accurately and in real-time irradiated onto the corresponding body parts of the patient with sufficient intensity, the relative azimuth and distance between the ultrasound irradiation device and the patient need to be accurately and in real-time adjusted. Furthermore, to avoid damage to the equipment caused by directly adjusting the ultrasound irradiation device, the relative azimuth and distance between the ultrasound irradiation device and the patient are usually adjusted by changing the patient's lying posture and height in space. Specifically, the posture angle and height of the treatment bed can be changed by driving the electric rotating and electric lifting components on the treatment bed, thereby synchronously changing the patient's lying posture angle and height, and consequently changing the relative azimuth and distance between the ultrasound irradiation device and the patient.

[0066] To ensure the ultrasound beam emitted by the ultrasound irradiation device is accurately aimed at the target area on the body, a three-dimensional image of the target object is first taken on the treatment bed used for ultrasound detection. This image is then used to identify the surface contour features of the target object and the external structural contour features of the treatment bed, accurately representing their spatial position in three-dimensional space. Furthermore, edge contour features of the corresponding target area on the target object's body are extracted from the surface contour features, providing a global representation of the overall spatial position of the target area in three-dimensional space. The edge contour features are then compared spatially with the external structural contour features to determine the relative spatial position of the target area's outer edge relative to the treatment bed, thus accurately representing the relative orientation of the target area on the target object and the treatment bed. In actual ultrasound detection and treatment, the entire surface of the target area needs to be precisely irradiated with the ultrasound beam; that is, the entire surface of the target area defines the spatial range within which the ultrasound beam should irradiate. Therefore, based on this relative spatial location information, the relative orientation information between the global surface of the target area and the ultrasonic irradiation device of the treatment bed is determined, thereby determining the desired ultrasonic irradiation spatial information of the target area. The desired ultrasonic irradiation spatial information refers to the size of the spatial solid angle range formed by the ultrasonic waves in three-dimensional space when the global surface of the target area is completely irradiated with ultrasonic waves.

[0067] Preferably, in step S2, based on the desired ultrasonic irradiation spatial information and the actual ultrasonic irradiation spatial information of the ultrasonic irradiation device on the treatment bed, the ultrasonic irradiation spatial deviation information of the ultrasonic irradiation device on the target area is determined; based on the ultrasonic irradiation spatial deviation information, the treatment bed is adjusted in a first posture, including:

[0068] Based on the focusing element parameters of the ultrasonic irradiation device on the treatment bed, the actual ultrasonic irradiation spatial solid angle range information of the ultrasonic irradiation device is determined, which is used as the actual ultrasonic irradiation spatial information of the ultrasonic irradiation device; the expected ultrasonic irradiation spatial solid angle range information corresponding to the expected ultrasonic irradiation spatial information is compared with the actual ultrasonic irradiation spatial solid angle range information to determine the ultrasonic irradiation spatial solid angle deviation information of the ultrasonic irradiation device for the target part.

[0069] Based on the solid angle deviation information of ultrasonic irradiation space, the deviation angle between the global surface of the target area and the actual ultrasonic irradiation cross section of the ultrasonic irradiation device is determined; based on the deviation angle, the support posture of the treatment bed on the target object is adjusted so that the actual ultrasonic irradiation solid angle range of the ultrasonic irradiation device completely covers the desired ultrasonic irradiation space solid angle range.

[0070] The beneficial effects of the above technical solution are as follows: The ultrasonic irradiation device uses a transducer to generate a raw ultrasonic beam, and then uses a focusing element to focus the raw ultrasonic beam, changing the irradiation range of the raw ultrasonic beam (i.e., reducing the irradiation range of the raw ultrasonic beam). This not only improves the energy concentration of the ultrasonic beam, but also effectively reduces 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. To ensure that the target area is aligned with the irradiation space of the ultrasonic beam emitted by the ultrasonic irradiation device, the actual solid angle range of the ultrasonic irradiation space is determined based on the focusing element parameters of the ultrasonic irradiation device on the treatment bed (such as the focusing element's divergence angle reduction coefficient for the ultrasonic beam). The desired ultrasonic irradiation solid angle range is compared with the actual ultrasonic irradiation solid angle range to determine the ultrasonic irradiation solid angle deviation of the ultrasonic irradiation device on the target area. This determines the deviation angle between the global surface of the target area and the actual ultrasonic irradiation cross section of the ultrasonic irradiation device. This deviation angle is then used to control the electric rotating components of the treatment bed to adjust at least one of the pitch, yaw, and roll angles, thereby synchronously adjusting the support posture of the target object. This ensures that the actual ultrasonic irradiation solid angle range of the ultrasonic irradiation device completely covers the desired ultrasonic irradiation solid angle range. During the treatment bed posture adjustment process, the target object is accurately moved and aligned with the ultrasonic irradiation device, ensuring that the entire surface of the target area receives effective ultrasonic irradiation.

[0071] Preferably, in step S3, dynamic thermal images of the target area receiving ultrasonic irradiation are acquired, and global temperature change information of the target area is identified from the dynamic thermal images; based on the global temperature change information, abnormal sub-regions of ultrasonic irradiation in the target area are determined, including:

[0072] Dynamic infrared thermal images of the target area receiving ultrasonic irradiation are acquired. These images are then segmented into frames to obtain several infrared thermal image frames. Temperature identification processing is performed on all infrared thermal image frames to obtain the global temperature distribution information of the target area for each frame. Time evolution analysis is then performed on the global temperature distribution information corresponding to all infrared thermal image frames to obtain the global temperature change information of the target area. Here, the global temperature change information refers to the temperature change rate information of each sub-region under the target area.

[0073] Based on global temperature change information, it is predicted whether each sub-region under the target location will reach the target temperature value within a predetermined time interval; if not, the corresponding sub-region is determined to be an abnormal sub-region of ultrasonic irradiation of the target location; if so, the corresponding sub-region is determined not to be an abnormal sub-region of ultrasonic irradiation of the target location.

[0074] The beneficial effects of the above technical solution are as follows: During ultrasonic irradiation, the temperature of the target area continuously increases. However, the intensity of ultrasonic irradiation energy received by different sub-regions of the target area's global surface varies, as does the biological tissue structure of these sub-regions. This results in different temperature increases (e.g., temperature rise rates) in different sub-regions under ultrasonic irradiation. To accurately and comprehensively identify the temperature rise of the target area under ultrasonic irradiation, dynamic infrared thermal images of the target area during ultrasonic irradiation are acquired and analyzed to obtain global temperature change information. The rate of temperature change in each sub-region of the target area is accurately characterized. Based on this global temperature change information, it is predicted whether each sub-region of the target area will reach the target temperature value within a predetermined time interval. This identifies abnormal ultrasonic irradiation sub-regions within the target area, providing a reliable basis for subsequent closer ultrasonic irradiation of these abnormal sub-regions.

[0075] Preferably, in step S4, based on the abnormal sub-region of ultrasonic irradiation and the spatial characteristics of ultrasonic wave transmission attenuation emitted by the ultrasonic irradiation device, the target irradiation spatial interval information of the abnormal sub-region of ultrasonic irradiation is determined; based on the target irradiation spatial interval information, the second posture adjustment of the treatment bed is performed, including:

[0076] Based on the spatial range occupied by the abnormal sub-region of ultrasonic irradiation on the surface of the target part, the actual ultrasonic energy information received by the abnormal sub-region of ultrasonic irradiation is determined; based on the actual ultrasonic energy information and the ultrasonic energy information received by the target, the ultrasonic irradiation energy gap information of the abnormal sub-region of ultrasonic irradiation is determined; 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 of ultrasonic irradiation, the target irradiation straight-line distance information of the ultrasonic irradiation device to the abnormal sub-region of ultrasonic irradiation is determined, and this is used as the target irradiation spatial interval information.

[0077] Based on the target irradiation straight-line distance information, the support height of the treatment bed on 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.

[0078] The beneficial effects of the above technical solution are as follows: Based on the spatial range (i.e., the area range) occupied by the abnormal sub-region of ultrasonic irradiation on the surface of the target part, the actual ultrasonic energy value received by the abnormal sub-region of ultrasonic irradiation is determined; generally speaking, the area range occupied by the abnormal sub-region of ultrasonic irradiation is positively correlated with the actual ultrasonic energy value received. The actual ultrasonic energy value received by the abnormal sub-region of ultrasonic irradiation is then compared with the preset target received ultrasonic energy value of the abnormal sub-region of ultrasonic irradiation, and the difference between the two is taken as the ultrasonic irradiation energy gap value of the abnormal sub-region of ultrasonic irradiation. The ultrasonic beam emitted by the ultrasonic irradiation device will experience intensity attenuation along the spatial path to the abnormal sub-region of ultrasonic irradiation. The longer the spatial path, the greater the intensity attenuation of the ultrasonic beam, making it impossible for the abnormal sub-region of ultrasonic irradiation to receive sufficient ultrasonic energy and thus unable to rapidly rise to the corresponding temperature. When the length of the spatial path decreases (i.e., the straight-line distance between the ultrasonic irradiation device and the abnormal sub-region of ultrasonic irradiation decreases), the ultrasonic energy received by the abnormal sub-region of ultrasonic irradiation also increases, thereby compensating for the ultrasonic irradiation energy gap value of the abnormal sub-region of ultrasonic irradiation. To ensure sufficient ultrasonic energy is received by the abnormal sub-region during ultrasonic irradiation, the target straight-line distance between the ultrasonic irradiation device and the abnormal sub-region is determined based on the ultrasonic energy gap information and the intensity attenuation rate characteristics of the ultrasonic waves emitted by the irradiation device along the transmission path from the irradiation device to the abnormal sub-region. Based on this target straight-line distance, the electric lifting mechanism of the treatment bed is controlled to adjust its height, thereby synchronously adjusting the support height for the target object. This ensures that the distance between the ultrasonic irradiation device and the target area is less than or equal to the target straight-line distance, thus shortening the distance between the abnormal sub-region and the ultrasonic irradiation device and increasing the ultrasonic energy received by the abnormal sub-region.

[0079] See Figure 2This is a schematic diagram of the framework of an intelligent attitude adjustment system for ultrasonic testing provided in an embodiment of the present invention. The intelligent attitude adjustment system for ultrasonic testing includes:

[0080] The visual recognition module is used to acquire images of the target object located on the treatment bed used for ultrasound detection, and to obtain the initial state information of the target part on the target object from the image recognition.

[0081] An ultrasonic irradiation spatial positioning module is used to determine the desired ultrasonic irradiation spatial information for the target area based on initial state information.

[0082] The ultrasonic irradiation spatial deviation determination module is used to determine the ultrasonic irradiation spatial deviation information of the ultrasonic irradiation device on the target part based on the desired ultrasonic irradiation spatial information and the actual ultrasonic irradiation spatial information of the ultrasonic irradiation device on the treatment bed.

[0083] The first posture adjustment module is used to adjust the first posture of the treatment bed based on the spatial deviation information of ultrasonic irradiation.

[0084] The thermal sensing module is used to acquire dynamic thermal images of the target area during the process of receiving ultrasonic irradiation, and to identify the global temperature change information of the target area from the dynamic thermal images.

[0085] The ultrasonic irradiation anomaly localization module is used to determine the ultrasonic irradiation anomaly sub-region of the target area based on global temperature change information.

[0086] The irradiation space interval determination module is used to determine the target irradiation space interval information of the ultrasonic irradiation device for the abnormal sub-region based on the ultrasonic irradiation abnormal sub-region and the spatial characteristics of ultrasonic transmission attenuation emitted by the ultrasonic irradiation device.

[0087] The second posture adjustment module is used to adjust the second posture of the treatment bed based on the target irradiation spatial interval information.

[0088] The beneficial effects of the above technical solution are as follows: The intelligent posture adjustment system for ultrasound detection visually recognizes the initial state information of the target part on the target object on the ultrasound detection treatment bed, thereby determining the desired ultrasound irradiation space information. This information is then compared with the actual ultrasound irradiation space information of the ultrasound irradiation equipment to obtain ultrasound irradiation space deviation information. This allows for the first posture adjustment of the treatment bed, ensuring accurate movement of the target object and alignment with the ultrasound irradiation equipment during the posture adjustment process. Furthermore, the system uses thermal sensing to identify the global temperature change information of the target part during ultrasound irradiation, identifying abnormal sub-regions of ultrasound irradiation. Combined with the spatial characteristics of ultrasound transmission attenuation, the system determines the target irradiation space interval information of the ultrasound irradiation equipment for the abnormal sub-regions. This allows for the second posture adjustment of the treatment bed, bringing the target part closer to the ultrasound irradiation equipment, ensuring the target part receives ultrasound energy, and improving treatment efficiency and reliability.

[0089] Preferably, the visual recognition module is used to acquire images of the target object located on the treatment bed used for ultrasound detection, and to obtain initial state information of the target area on the target object from the image recognition, including:

[0090] A three-dimensional image of the target object is obtained by taking a three-dimensional photograph of the target object on the ultrasound testing bed; pixel contour recognition is performed on the three-dimensional image to obtain the contour feature information of the target object's body surface and the contour feature information of the shape structure of the treatment bed;

[0091] The edge contour feature information of the target part on the target object is extracted from the body surface contour feature information. The edge contour feature information is spatially compared with the shape structure contour feature information to determine the relative spatial position information of the outer edge of the target part and the treatment bed, which is used as the initial state information of the target object.

[0092] The ultrasonic irradiation spatial positioning module is used to determine the desired ultrasonic irradiation spatial information for the target area based on initial state information, including:

[0093] Based on relative spatial location information, the relative orientation information between the global surface of the target area and the ultrasonic irradiation equipment on the treatment bed is determined; based on the relative orientation information, the desired ultrasonic irradiation spatial information of the target area is determined.

[0094] The beneficial effects of the above technical solution are as follows: During ultrasound examination and treatment, the patient or other target subject needs to lie on an ultrasound examination bed, and the ultrasound irradiation device on the bed irradiates ultrasound beams onto the corresponding body parts of the patient. Therefore, the relative azimuth and distance between the ultrasound irradiation device and the patient (especially the corresponding body parts) affect the accuracy and intensity of the ultrasound beam's irradiation. To ensure that the ultrasound beam emitted by the ultrasound irradiation device can be accurately and in real-time irradiated onto the corresponding body parts of the patient with sufficient intensity, the relative azimuth and distance between the ultrasound irradiation device and the patient need to be accurately and in real-time adjusted. Furthermore, to avoid damage to the equipment caused by directly adjusting the ultrasound irradiation device, the relative azimuth and distance between the ultrasound irradiation device and the patient are usually adjusted by changing the patient's lying posture and height in space. Specifically, the posture angle and height of the treatment bed can be changed by driving the electric rotating and electric lifting components on the treatment bed, thereby synchronously changing the patient's lying posture angle and height, and consequently changing the relative azimuth and distance between the ultrasound irradiation device and the patient.

[0095] To ensure the ultrasound beam emitted by the ultrasound irradiation device is accurately aimed at the target area on the body, a three-dimensional image of the target object is first taken on the treatment bed used for ultrasound detection. This image is then used to identify the surface contour features of the target object and the external structural contour features of the treatment bed, accurately representing their spatial position in three-dimensional space. Furthermore, edge contour features of the corresponding target area on the target object's body are extracted from the surface contour features, providing a global representation of the overall spatial position of the target area in three-dimensional space. The edge contour features are then compared spatially with the external structural contour features to determine the relative spatial position of the target area's outer edge relative to the treatment bed, thus accurately representing the relative orientation of the target area on the target object and the treatment bed. In actual ultrasound detection and treatment, the entire surface of the target area needs to be precisely irradiated with the ultrasound beam; that is, the entire surface of the target area defines the spatial range within which the ultrasound beam should irradiate. Therefore, based on this relative spatial location information, the relative orientation information between the global surface of the target area and the ultrasonic irradiation device of the treatment bed is determined, thereby determining the desired ultrasonic irradiation spatial information of the target area. The desired ultrasonic irradiation spatial information refers to the size of the spatial solid angle range formed by the ultrasonic waves in three-dimensional space when the global surface of the target area is completely irradiated with ultrasonic waves.

[0096] Preferably, the ultrasonic irradiation spatial deviation determination module is used to determine the ultrasonic irradiation spatial deviation information of the ultrasonic irradiation device on the target area based on the desired ultrasonic irradiation spatial information and the actual ultrasonic irradiation spatial information of the ultrasonic irradiation device on the treatment bed, including:

[0097] Based on the focusing element parameters of the ultrasonic irradiation device on the treatment bed, the actual ultrasonic irradiation spatial solid angle range information of the ultrasonic irradiation device is determined, which is used as the actual ultrasonic irradiation spatial information of the ultrasonic irradiation device; the expected ultrasonic irradiation spatial solid angle range information corresponding to the expected ultrasonic irradiation spatial information is compared with the actual ultrasonic irradiation spatial solid angle range information to determine the ultrasonic irradiation spatial solid angle deviation information of the ultrasonic irradiation device for the target part.

[0098] The first posture adjustment module is used to adjust the first posture of the treatment bed based on the spatial deviation information of ultrasonic irradiation, including:

[0099] Based on the solid angle deviation information of ultrasonic irradiation space, the deviation angle between the global surface of the target area and the actual ultrasonic irradiation cross section of the ultrasonic irradiation device is determined; based on the deviation angle, the support posture of the treatment bed on the target object is adjusted so that the actual ultrasonic irradiation solid angle range of the ultrasonic irradiation device completely covers the desired ultrasonic irradiation space solid angle range.

[0100] The beneficial effects of the above technical solution are as follows: The ultrasonic irradiation device uses a transducer to generate a raw ultrasonic beam, and then uses a focusing element to focus the raw ultrasonic beam, changing the irradiation range of the raw ultrasonic beam (i.e., reducing the irradiation range of the raw ultrasonic beam). This not only improves the energy concentration of the ultrasonic beam, but also effectively reduces 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. To ensure that the target area is aligned with the irradiation space of the ultrasonic beam emitted by the ultrasonic irradiation device, the actual solid angle range of the ultrasonic irradiation space is determined based on the focusing element parameters of the ultrasonic irradiation device on the treatment bed (such as the focusing element's divergence angle reduction coefficient for the ultrasonic beam). The desired ultrasonic irradiation solid angle range is compared with the actual ultrasonic irradiation solid angle range to determine the ultrasonic irradiation solid angle deviation of the ultrasonic irradiation device on the target area. This determines the deviation angle between the global surface of the target area and the actual ultrasonic irradiation cross section of the ultrasonic irradiation device. This deviation angle is then used to control the electric rotating components of the treatment bed to adjust at least one of the pitch, yaw, and roll angles, thereby synchronously adjusting the support posture of the target object. This ensures that the actual ultrasonic irradiation solid angle range of the ultrasonic irradiation device completely covers the desired ultrasonic irradiation solid angle range. During the treatment bed posture adjustment process, the target object is accurately moved and aligned with the ultrasonic irradiation device, ensuring that the entire surface of the target area receives effective ultrasonic irradiation.

[0101] Preferably, the thermal imaging module is used to acquire dynamic thermal images of the target area during ultrasonic irradiation, and to identify global temperature change information of the target area from the dynamic thermal images, including:

[0102] Dynamic infrared thermal images of the target area receiving ultrasonic irradiation are acquired. These images are then segmented into frames to obtain several infrared thermal image frames. Temperature identification processing is performed on all infrared thermal image frames to obtain the global temperature distribution information of the target area for each frame. Time evolution analysis is then performed on the global temperature distribution information corresponding to all infrared thermal image frames to obtain the global temperature change information of the target area. Here, the global temperature change information refers to the temperature change rate information of each sub-region under the target area.

[0103] The ultrasonic irradiation anomaly localization module is used to determine the ultrasonic irradiation anomaly sub-region of the target area based on global temperature change information, including:

[0104] Based on global temperature change information, it is predicted whether each sub-region under the target location will reach the target temperature value within a predetermined time interval; if not, the corresponding sub-region is determined to be an abnormal sub-region of ultrasonic irradiation of the target location; if so, the corresponding sub-region is determined not to be an abnormal sub-region of ultrasonic irradiation of the target location.

[0105] The beneficial effects of the above technical solution are as follows: During ultrasonic irradiation, the temperature of the target area continuously increases. However, the intensity of ultrasonic irradiation energy received by different sub-regions of the target area's global surface varies, as does the biological tissue structure of these sub-regions. This results in different temperature increases (e.g., temperature rise rates) in different sub-regions under ultrasonic irradiation. To accurately and comprehensively identify the temperature rise of the target area under ultrasonic irradiation, dynamic infrared thermal images of the target area during ultrasonic irradiation are acquired and analyzed to obtain global temperature change information. The rate of temperature change in each sub-region of the target area is accurately characterized. Based on this global temperature change information, it is predicted whether each sub-region of the target area will reach the target temperature value within a predetermined time interval. This identifies abnormal ultrasonic irradiation sub-regions within the target area, providing a reliable basis for subsequent closer ultrasonic irradiation of these abnormal sub-regions.

[0106] Preferably, the irradiation spatial interval determination module is used to determine the target irradiation spatial interval information of the ultrasonic irradiation device for the abnormal irradiation sub-region based on the spatial characteristics of ultrasonic wave transmission attenuation emitted by the ultrasonic irradiation device and the abnormal sub-region of ultrasonic irradiation, including:

[0107] Based on the spatial range occupied by the abnormal sub-region of ultrasonic irradiation on the surface of the target part, the actual ultrasonic energy information received by the abnormal sub-region of ultrasonic irradiation is determined; based on the actual ultrasonic energy information and the ultrasonic energy information received by the target, the ultrasonic irradiation energy gap information of the abnormal sub-region of ultrasonic irradiation is determined; 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 of ultrasonic irradiation, the target irradiation straight-line distance information of the ultrasonic irradiation device to the abnormal sub-region of ultrasonic irradiation is determined, and this is used as the target irradiation spatial interval information.

[0108] The second posture adjustment module is used to adjust the second posture of the treatment bed based on the target irradiation spatial interval information, including:

[0109] Based on the target irradiation straight-line distance information, the support height of the treatment bed on 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.

[0110] The beneficial effects of the above technical solution are as follows: Based on the spatial range (i.e., the area range) occupied by the abnormal sub-region of ultrasonic irradiation on the surface of the target part, the actual ultrasonic energy value received by the abnormal sub-region of ultrasonic irradiation is determined; generally speaking, the area range occupied by the abnormal sub-region of ultrasonic irradiation is positively correlated with the actual ultrasonic energy value received. The actual ultrasonic energy value received by the abnormal sub-region of ultrasonic irradiation is then compared with the preset target received ultrasonic energy value of the abnormal sub-region of ultrasonic irradiation, and the difference between the two is taken as the ultrasonic irradiation energy gap value of the abnormal sub-region of ultrasonic irradiation. The ultrasonic beam emitted by the ultrasonic irradiation device will experience intensity attenuation along the spatial path to the abnormal sub-region of ultrasonic irradiation. The longer the spatial path, the greater the intensity attenuation of the ultrasonic beam, making it impossible for the abnormal sub-region of ultrasonic irradiation to receive sufficient ultrasonic energy and thus unable to rapidly rise to the corresponding temperature. When the length of the spatial path decreases (i.e., the straight-line distance between the ultrasonic irradiation device and the abnormal sub-region of ultrasonic irradiation decreases), the ultrasonic energy received by the abnormal sub-region of ultrasonic irradiation also increases, thereby compensating for the ultrasonic irradiation energy gap value of the abnormal sub-region of ultrasonic irradiation. To ensure sufficient ultrasonic energy is received by the abnormal sub-region during ultrasonic irradiation, the target straight-line distance between the ultrasonic irradiation device and the abnormal sub-region is determined based on the ultrasonic energy gap information and the intensity attenuation rate characteristics of the ultrasonic waves emitted by the irradiation device along the transmission path from the irradiation device to the abnormal sub-region. Based on this target straight-line distance, the electric lifting mechanism of the treatment bed is controlled to adjust its height, thereby synchronously adjusting the support height for the target object. This ensures that the distance between the ultrasonic irradiation device and the target area is less than or equal to the target straight-line distance, thus shortening the distance between the abnormal sub-region and the ultrasonic irradiation device and increasing the ultrasonic energy received by the abnormal sub-region.

[0111] As can be seen from the above embodiments, this intelligent posture adjustment method and system for ultrasonic detection visually recognizes the initial state information of the target part on the target object located on the ultrasonic detection treatment bed, 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 ultrasonic irradiation space deviation information. This allows for a first posture adjustment of the treatment bed, ensuring that the treatment bed accurately moves the target object and aligns it with the ultrasonic irradiation device during the posture adjustment process. Furthermore, it uses thermal sensing to identify the global temperature change information of the target part during ultrasonic irradiation, determining abnormal ultrasonic irradiation sub-regions, and combining this with the spatial characteristics of ultrasonic transmission attenuation to determine the target irradiation space interval information of the ultrasonic irradiation device for the abnormal irradiation sub-regions. This allows for a second posture adjustment of the treatment bed, bringing the target part closer to the ultrasonic irradiation device, ensuring that the target part receives ultrasonic energy, and improving treatment efficiency and reliability.

[0112] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. An intelligent posture adjustment system for ultrasonic testing, characterized in that, The method comprises the following steps: a visual recognition module is used to collect images of a target object on a treatment bed for ultrasonic detection, and initial state information of a target part on the target object is recognized from the images; an ultrasonic irradiation space positioning module is used to determine expected ultrasonic irradiation space information of the target part based on the initial state information; an ultrasonic irradiation space deviation determination module is used to determine ultrasonic irradiation space deviation information of the target part of an ultrasonic irradiation device of the treatment bed based on the expected ultrasonic irradiation space information and actual ultrasonic irradiation space information of the ultrasonic irradiation device; a first attitude adjustment module is used to perform first attitude adjustment of the treatment bed based on the ultrasonic irradiation space deviation information; a thermal sensing recognition module is used to collect dynamic thermal sensing images of the target part receiving ultrasonic irradiation, and global temperature change information of the target part is recognized from the dynamic thermal sensing images, comprising the following steps: dynamic infrared thermal sensing images of the target part receiving ultrasonic irradiation are collected, the dynamic infrared thermal sensing images are frame-processed to obtain a plurality of infrared thermal image frames, temperature recognition processing is performed on all the infrared thermal image frames to obtain global temperature distribution information of the target part of each of the infrared thermal image frames, and time evolution analysis is performed on the global temperature distribution information corresponding to all the infrared thermal image frames to obtain the global temperature change information of the target part; wherein the global temperature change information refers to temperature change rate information of each sub-region belonging to the target part; an ultrasonic irradiation abnormality positioning module is used to determine an ultrasonic irradiation abnormal sub-region of the target part based on the global temperature change information, comprising the following steps: whether each sub-region belonging to the target part reaches a target temperature value within a predetermined time interval is predicted based on the global temperature change information; if not, it is determined that the corresponding sub-region belongs to the ultrasonic irradiation abnormal sub-region of the target part; if yes, it is determined that the corresponding sub-region does not belong to the ultrasonic irradiation abnormal sub-region of the target part; an irradiation space interval determination module is used to determine target irradiation space interval information of the ultrasonic irradiation device to the irradiation abnormal sub-region based on the ultrasonic irradiation abnormal sub-region and ultrasonic transmission attenuation space characteristics of the ultrasonic irradiation device, comprising the following steps: actual ultrasonic energy information received by the ultrasonic irradiation abnormal sub-region is determined based on the occupied space range of the ultrasonic irradiation abnormal sub-region on the surface of the target part, ultrasonic irradiation energy gap information of the ultrasonic irradiation abnormal sub-region is determined based on the actual ultrasonic energy information and target received ultrasonic energy information, target irradiation straight-line distance information of the ultrasonic irradiation device to the irradiation abnormal sub-region is determined based on the ultrasonic irradiation energy gap information and intensity attenuation rate characteristics of ultrasonic waves emitted by the ultrasonic irradiation device on a transmission path from the ultrasonic irradiation device to the ultrasonic irradiation abnormal sub-region, and the target irradiation straight-line distance information is used as the target irradiation space interval information; The second posture adjustment module is configured to perform second posture adjustment on the treatment bed based on the target irradiation space interval information, and the second posture adjustment comprises: adjusting a supporting height of the treatment bed on the target object based on the target irradiation straight-line distance information, so that a distance between the ultrasonic irradiation device and the target part is less than or equal to the target irradiation straight-line distance. 2.The intelligent posture adjustment system for ultrasonic detection according to claim 1, wherein: the visual recognition module is configured to acquire 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, and the initial state information comprises: performing 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, and performing pixel contour recognition on the three-dimensional image to obtain body surface contour feature information of the target object and outer shape contour feature information of the treatment bed; extracting edge contour feature information of the target part on the target object from the body surface contour feature information, and comparing the edge contour feature information with the outer shape contour feature information to determine relative spatial position information of an outer edge of the target part and the treatment bed, and taking the relative spatial position information as the initial state information of the target object; the ultrasonic irradiation space positioning module is configured to determine expected ultrasonic irradiation space information of the target part based on the initial state information, and the expected ultrasonic irradiation space information comprises: determining relative orientation information of a global surface of the target part and an ultrasonic irradiation device of the treatment bed based on the relative spatial position information, and determining the expected ultrasonic irradiation space information of the target part based on the relative orientation information. 3.The intelligent posture adjustment system for ultrasonic detection according to claim 1, wherein: the ultrasonic irradiation space deviation determination module is configured to determine ultrasonic irradiation space deviation information of the ultrasonic irradiation device on the target part based on the expected ultrasonic irradiation space information and actual ultrasonic irradiation space information of the ultrasonic irradiation device of the treatment bed, and the ultrasonic irradiation space deviation information comprises: determining actual ultrasonic irradiation space solid angle range information of the ultrasonic irradiation device based on a focusing element parameter of the ultrasonic irradiation device of the treatment bed, taking the actual ultrasonic irradiation space solid angle range information as the actual ultrasonic irradiation space information of the ultrasonic irradiation device, and comparing 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 to determine ultrasonic irradiation space solid angle deviation information of the ultrasonic irradiation device on the target part; the first posture adjustment module is configured to perform first posture adjustment on the treatment bed based on the ultrasonic irradiation space deviation information, and the first posture adjustment comprises: Based on the ultrasonic irradiation space solid angle deviation information, a deviated attitude angle of a global surface of the target part from an actual ultrasonic irradiation cross section of the ultrasonic irradiation device is determined; and based on the deviated attitude angle, a bearing attitude of the treatment bed to the target object is adjusted, so that the actual ultrasonic irradiation solid angle range of the ultrasonic irradiation device completely covers the expected ultrasonic irradiation space solid angle range.

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