Ultrasonic transcranial detection system, method and equipment based on virtual reality technology

Abstract

The invention discloses an ultrasonic transcranial detection system, method and device based on the virtual reality technology, and relates to the technical field of ultrasonic detection.The system comprises a pose measuring component and a virtual reality component, the pose measuring component measures pose related parameters in the real ultrasonic detection head moving process, and the virtual reality component measures the pose related parameters in the real ultrasonic detection head moving process; the virtual reality part determines the position and the angle of the real ultrasonic probe when the movement is stopped based on the pose related parameters in the movement process, and moves the virtual ultrasonic probe based on the position and the angle of the real ultrasonic probe when the movement is stopped; the pose of the virtual ultrasonic detection head relative to the virtual head is made to be the same as the pose of the real ultrasonic detection head relative to the real head, when the virtual ultrasonic detection head stops moving, the virtual ultrasonic detection head is used for detecting the virtual head, the detection result is displayed, and a virtual blood vessel is arranged in the virtual head. The diagnosis accuracy and efficiency of doctors can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of ultrasonic detection, and particularly to an ultrasonic transcranial detection system, method and device based on virtual reality technology. Background Art

[0002] As a non-invasive detection means, ultrasonic transcranial detection has wide application value in the fields of clinical neuroscience, cerebrovascular diseases, etc. It can provide important basis for experts by analyzing information such as intracranial blood flow velocity and vascular structure.

[0003] Currently, ultrasonic transcranial detection mainly uses the Doppler effect technology for measurement. Although this technology has been relatively mature and widely applied in the fields of clinical neuroscience, cerebrovascular diseases, etc., providing important judgment basis for experts, there are still some obvious limitations in actual operation, mainly including the following two aspects: (1) Limited imaging dimension: The traditional ultrasonic transcranial detection technology can only provide the spectral situation of the Doppler effect of the measured object, lacking the three-dimensional sense and detection depth information inside the skull, making it challenging for the detector to identify and locate complex intracranial structures. (2) Strong operation dependence: The traditional ultrasonic transcranial detection technology requires the detector to have a relatively in-depth understanding of the vascular structure and distribution in the human skull. However, the intracranial structure is complex, which poses a high requirement for the detector's experience. During the ultrasonic transcranial detection process, the detector needs to continuously adjust the detection depth of the ultrasonic probe and the angle with the blood vessel to achieve a better detection effect, which poses a relatively high requirement for the detector's detection experience and professional level. Moreover, during the operation process, the angle and position of the ultrasonic probe need to be continuously adjusted, resulting in limited scanning accuracy and increasing the risk of misoperation. These problems may lead to inaccurate detection results, and at the same time, the detection time is also relatively long, causing a bad detection experience for the measured object. And the detection result largely depends on the experience and technical level of the detector. The difference between different detectors may lead to the inconsistency of the detection results, affecting the accuracy of diagnosis. Obviously, the traditional ultrasonic transcranial detection technology often has the problems of relying on the experience and technical level of the detector and facing challenges in accurately identifying and locating complex intracranial structures.

[0004] In order to overcome the problems existing in the traditional ultrasonic transcranial detection technology, in recent years, some researchers have tried to introduce three-dimensional ultrasonic imaging technology into ultrasonic transcranial detection. By constructing a more three-dimensional intracranial structure image, the ease of operation and accuracy of detection have been improved. However, most of the three-dimensional ultrasonic imaging technology still stays at the level of static image analysis, lacking the presentation of interaction with real-time dynamics, and cannot dynamically reflect the angle of the actual ultrasonic probe, the angle between the detection wave and the blood vessel, and their relative positions, limiting its application potential, and still having the problem of relying on the experience and technical level of the detector. Summary of the Invention

[0005] The objective of this application is to provide an ultrasonic transcranial detection system, method, and device based on virtual reality technology, which can observe and analyze intracranial structures more intuitively, in real-time, and comprehensively, thereby improving the accuracy and efficiency of doctors' diagnoses.

[0006] To achieve the above objective, this application provides the following solutions:

[0007] In a first aspect, this application provides an ultrasonic transcranial detection system based on virtual reality technology. The ultrasonic transcranial detection system based on virtual reality technology includes:

[0008] A pose measurement component, fixedly connected to a real ultrasonic probe, for measuring pose-related parameters of the real ultrasonic probe during the movement from a first position point to a second position point on the real head of the object to be measured.

[0009] A virtual reality component, communicatively connected to the pose measurement component, for determining the position and angle of the real ultrasonic probe when the movement stops based on the pose-related parameters during the movement, and moving a virtual ultrasonic probe based on the position and angle of the real ultrasonic probe when the movement stops, so that the pose of the virtual ultrasonic probe relative to the virtual head is the same as the pose of the real ultrasonic probe relative to the real head. When the virtual ultrasonic probe stops moving, the virtual ultrasonic probe is used to detect the virtual head, and the detection result is displayed; wherein, virtual blood vessels are provided in the virtual head.

[0010] In a second aspect, this application provides an ultrasonic transcranial detection method based on virtual reality technology, which is applied to the above-mentioned ultrasonic transcranial detection system based on virtual reality technology. The ultrasonic transcranial detection method based on virtual reality technology includes:

[0011] Obtain the pose-related parameters of the real ultrasonic probe during the movement from a first position point to a second position point on the real head of the object to be measured measured by the pose measurement component;

[0012] Determine the position and angle of the real ultrasonic probe when the movement stops based on the pose-related parameters during the movement;

[0013] Move the virtual ultrasonic probe based on the position and angle of the real ultrasonic probe when the movement stops, so that the pose of the virtual ultrasonic probe relative to the virtual head is the same as the pose of the real ultrasonic probe relative to the real head. When the virtual ultrasonic probe stops moving, the virtual ultrasonic probe is used to detect the virtual head, and the detection result is displayed; wherein, virtual blood vessels are provided in the virtual head.

[0014] In a third aspect, the present application provides a computer device, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the computer program to implement the above ultrasonic transcranial detection method based on virtual reality technology.

[0015] According to the specific embodiments provided by the present application, the present application has the following technical effects:

[0016] The present application provides an ultrasonic transcranial detection system, method, and device based on virtual reality technology, including: a pose measurement component and a virtual reality component. The pose measurement component is used to measure the pose-related parameters of a real ultrasonic probe during the movement from a first position point to a second position point on the real head of a measured object. The virtual reality component is used to determine the position and angle of the real ultrasonic probe when the movement stops based on the pose-related parameters during the movement, and move a virtual ultrasonic probe based on the position and angle of the real ultrasonic probe when the movement stops, so that the pose of the virtual ultrasonic probe relative to the virtual head is the same as the pose of the real ultrasonic probe relative to the real head. When the virtual ultrasonic probe stops moving, the virtual ultrasonic probe is used to detect the virtual head, and the detection result is displayed. Among them, there are virtual blood vessels in the virtual head. The present application can use virtual reality technology to simulate the process of a real ultrasonic probe detecting a real head by detecting a virtual head with a virtual ultrasonic probe, and can observe and analyze intracranial structures more intuitively, real-time, and comprehensively, to assist the detector in finding blood vessels faster and more accurately and adjusting the angle of the real ultrasonic probe for detection, reducing the dependence on the experience and technical level of the detector, thereby improving the accuracy and efficiency of doctor diagnosis. Description of the Drawings

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required to be used in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. 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 logic architecture diagram of an ultrasonic transcranial detection system based on virtual reality technology provided in Embodiment 1 of the present application.

[0019] Figure 2 It is a schematic installation diagram of the first three-axis gyroscope provided in Embodiment 1 of the present application.

[0020] Figure 3 It is a schematic installation diagram of the second three-axis gyroscope and the optoelectronic displacement sensor provided in Embodiment 1 of the present application.

[0021] Figure 4 The detection flowchart of the ultrasonic transcranial detection system based on virtual reality technology provided in Embodiment 1 of this application.

[0022] Figure 5 The schematic flowchart of a method for ultrasonic transcranial detection based on virtual reality technology provided in Embodiment 2 of this application.

[0023] Figure 6 The schematic structural diagram of a computer device provided in Embodiment 3 of this application.

[0024] Reference numerals:

[0025] 1 - Real ultrasonic probe; 2 - First three - axis gyroscope; 3 - Second three - axis gyroscope; 4 - Photoelectric displacement sensor. Detailed implementation manners

[0026] Next, the technical solutions in the embodiments of this application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the protection scope of this application.

[0027] Embodiment 1

[0028] This embodiment provides an ultrasonic transcranial detection system based on virtual reality technology. As Figure 1 、 Figure 2 and Figure 3 shown, the ultrasonic transcranial detection system based on virtual reality technology includes:

[0029] A pose measurement component, fixedly connected to the real ultrasonic probe 1, for measuring the pose - related parameters of the real ultrasonic probe 1 during the movement from the first position point to the second position point of the real head of the measured object (i.e., the measured person).

[0030] A virtual reality component, communicatively connected to the pose measurement component, for determining the position and angle of the real ultrasonic probe 1 when the movement stops based on the pose - related parameters during the movement, and moving the virtual ultrasonic probe based on the position and angle of the real ultrasonic probe 1 when the movement stops, so that the pose of the virtual ultrasonic probe relative to the virtual head is the same as the pose of the real ultrasonic probe 1 relative to the real head. When the virtual ultrasonic probe stops moving, the virtual ultrasonic probe is used to detect the virtual head, and the detection result is displayed. Among them, there are virtual blood vessels in the virtual head.

[0031] As Figure 1As shown in the figure, the ultrasonic transcranial detection system of this embodiment mainly consists of two parts: a hardware part and a software part. The hardware part is divided into: a pose measurement component and a cranial measurement module, which are used to measure pose-related parameters during the movement process and obtain contour data such as the shape, size, and dimensions of the real skull. The software part is divided into: a virtual reality component, specifically including a data acquisition module, a 3D model module, and a data operation module, which are used to realize functions such as the construction of a three-dimensional virtual skull and a virtual ultrasonic probe, receiving the measurement information of the hardware part, performing operations on the measurement information, tracking the position and angle of the real ultrasonic probe 1 to move the virtual ultrasonic probe, and using the virtual ultrasonic probe to detect and display the virtual skull.

[0032] As Figure 2 shown, the pose measurement component includes a first three-axis gyroscope 2. The first three-axis gyroscope 2 is installed on the real ultrasonic probe 1 and is used to obtain pose-related parameters such as the angular velocity and acceleration of the real ultrasonic probe 1. The first three-axis gyroscope 2 can be connected to the data acquisition module in the virtual reality component through USB or a wireless module, etc., and transmit the pose-related parameters such as the angular velocity and acceleration of the real ultrasonic probe 1 obtained by the first three-axis gyroscope 2 to the data acquisition module.

[0033] As Figure 3 shown, the pose measurement component includes a second three-axis gyroscope 3 and a photoelectric displacement sensor 4. Both the second three-axis gyroscope 3 and the photoelectric displacement sensor 4 are installed on the real ultrasonic probe 1. The second three-axis gyroscope 3 acts as an angle sensor and is used to obtain the angular velocity and acceleration of the real ultrasonic probe 1, and then calculate the angle of the real ultrasonic probe 1. The photoelectric displacement sensor 4 is used to obtain the displacement of the real ultrasonic probe 1.

[0034] At this time, in this embodiment, the pose measurement component includes a first three-axis gyroscope 2. At this time, the pose-related parameters include the angular velocity and acceleration of the real ultrasonic probe 1 obtained by the first three-axis gyroscope 2; or, the pose measurement component includes a second three-axis gyroscope 3 and a photoelectric displacement sensor 4. At this time, the pose-related parameters include the angular velocity and acceleration of the real ultrasonic probe 1 obtained by the second three-axis gyroscope 3 and the displacement of the real ultrasonic probe 1 obtained by the photoelectric displacement sensor 4.

[0035] A cephalometric measurement module is used to obtain contour data obtained by measuring the shape, size and dimensions of the real head of the object to be measured. By measuring the size and shape of the real head, a virtual head that better conforms to the individual situation can be constructed. Specifically, the head circumference, length, width and other information of the real head can be directly measured with a flexible ruler to obtain the contour data of the real head, or the CT (Computed Tomography) image or nuclear magnetic image of the real head of the object to be measured can be processed by an image processing model based on deep learning to obtain the contour data of the real head, and then the contour data of the real head is transmitted to the data acquisition module for subsequent pre-construction of the virtual head.

[0036] In this embodiment, the virtual reality component includes:

[0037] A data acquisition module is used to collect and obtain the data generated by the hardware part, including the data generated by the pose measurement component and the cephalometric measurement module, and transfer these data to the 3D model module and the data operation module. Specifically, the data acquisition module is communicatively connected to the pose measurement component and is used to collect the pose-related parameters during the movement measured by the pose measurement component, that is, to collect information such as the angular velocity and acceleration obtained by the first three-axis gyroscope 2, or to collect the angular velocity and acceleration obtained by the second three-axis gyroscope 3 and the displacement obtained by the photoelectric displacement sensor 4, and can also be used to collect parameters such as the shape, size and detection depth of the ultrasonic wave emitted by the real ultrasonic probe 1. The data acquisition module is communicatively connected to the cephalometric measurement module and is used to collect the contour data of the real head measured by the cephalometric measurement module.

[0038] A data operation module, communicatively connected to the data acquisition module, is used to calculate the position and angle of the real ultrasonic probe 1.

[0039] When the pose measurement component is the first three-axis gyroscope 2, based on the angular velocity obtained by the first three-axis gyroscope 2, the angle of the first three-axis gyroscope 2 is determined. The angle of the real ultrasonic probe 1 is the same as the angle of the first three-axis gyroscope 2. Based on the acceleration obtained by the first three-axis gyroscope 2, the position of the first three-axis gyroscope 2 is determined. Since the first three-axis gyroscope 2 does not coincide with the real ultrasonic probe 1 and there is a relative position, the position of the first three-axis gyroscope 2 is not the position of the real ultrasonic probe 1, and the position of the real ultrasonic probe 1 needs to be calculated through the relative position between the first three-axis gyroscope 2 and the real ultrasonic probe 1.

[0040] When the pose measurement components are the second three-axis gyroscope 3 and the optoelectronic displacement sensor 4, based on the angular velocity obtained by the second three-axis gyroscope 3, the angle of the second three-axis gyroscope 3 is determined. The angle of the real ultrasonic probe 1 is the same as the angle of the second three-axis gyroscope 3. Based on the displacement obtained by the optoelectronic displacement sensor 4, the position of the optoelectronic displacement sensor 4 is determined. The position of the real ultrasonic probe 1 is the same as the position of the optoelectronic displacement sensor 4.

[0041] Specifically, the data operation module is used to determine the position and angle of the real ultrasonic probe 1 when the movement stops based on the pose-related parameters during the movement.

[0042] The 3D model module, the functions of this module mainly include the model construction of the human head and blood vessels, and the virtual reality dynamic interaction simulation is carried out through the position and angle of the real ultrasonic probe 1 provided by the data operation module. The 3D model module is respectively communicatively connected with the data acquisition module and the data operation module, and is used for the generation of the 3D model (virtual head and virtual ultrasonic probe), as well as the perspective conversion during the detection process and the real-time update of the position and angle of the virtual ultrasonic probe. Specifically, 3DsMax and Unity can be used to complete it. First, 3DsMax is used to construct the 3D model of the human head and blood vessels, and then Unity is used to carry out the virtual reality dynamic interaction simulation. That is, the 3D model module is used to pre-construct the virtual head and the virtual ultrasonic probe, and move the virtual ultrasonic probe based on the position and angle of the real ultrasonic probe 1 when the movement stops, so that the pose of the virtual ultrasonic probe relative to the virtual head is the same as the pose of the real ultrasonic probe 1 relative to the real head. When the virtual ultrasonic probe stops moving, the virtual ultrasonic probe is used to detect the virtual head and display the detection result.

[0043] When the pose measurement component includes the first three-axis gyroscope 2, the specific method for the data operation module to calculate the current position and angle of the real ultrasonic probe 1 is as follows:

[0044] (1) Calculate the position and angle of the first three-axis gyroscope 2

[0045] According to the angular velocity information obtained by the first three-axis gyroscope 2, the angle of the first three-axis gyroscope 2 is calculated. The angle of the first three-axis gyroscope 2 is the included angle of the first three-axis gyroscope 2 relative to the X-axis, Y-axis and Z-axis.

[0046] Let the magnitude of the acceleration output by the first three-axis gyroscope 2 in the Z-axis direction be: a z , then its moving speed in the Z-axis direction is:

[0047]

[0048] Among them, is the moving speed of the first three-axis gyroscope 2 at time t2 (i.e., the 3D model update time, i.e., the time when the real ultrasonic probe 1 moves to the second position point); is the moving speed of the first three-axis gyroscope 2 at time t1 (i.e., the time when the real ultrasonic probe 1 starts to move from the first position point); Δt is the time interval between two adjacent output data of the first three-axis gyroscope 2.

[0049]

[0050] Among them, is the position of the first three-axis gyroscope 2 at time t2; is the position of the first three-axis gyroscope 2 at time t1; Δt is the time interval between two adjacent output data of the first three-axis gyroscope 2.

[0051] Similarly, the speeds and positions in the X-axis and Y-axis directions are also calculated by the above two formulas. The positions of the first three-axis gyroscope 2 in the X-axis, Y-axis, and Z-axis together form the position of the first three-axis gyroscope 2.

[0052] Through the above content, the motion state and position trajectory of the first three-axis gyroscope 2 can be calculated.

[0053] (2) Calculate the position and angle of the real ultrasonic probe 1

[0054] In order to obtain the position and angle of the real ultrasonic probe 1, first, the first three-axis gyroscope 2 needs to be bound to a certain position at the front end of the real ultrasonic probe 1. Denote the distance between the two as c. Input the distance c into the data acquisition module, and the data acquisition module then transmits the distance c to the data operation module for revising the measurement error, that is, to obtain the actual position and angle of the real ultrasonic probe 1. The specific calculation process is as follows: Assume that the angles of the first three-axis gyroscope 2 with the X, Y, and Z axes are α, β, and γ respectively. Then, in the coordinate system (right-handed coordinate system) with the first three-axis gyroscope 2 as the starting point (zero point), the coordinates of the real ultrasonic probe 1 are [c·cos(π + α), c·cos(π + β), c·cos(π + γ)]. If the coordinates of the first three-axis gyroscope 2 in the entire space coordinate system are (x t , y t , z t ), then the coordinates of the real ultrasonic probe 1 should be [x t + c·cos(π + α), y t + c·cos(π + β), z t + c·cos(π + γ)].

[0055] At this time, in this embodiment, when the pose measurement component includes the first three-axis gyroscope 2, the position and angle of the real ultrasonic probe 1 when the movement stops are determined based on the pose-related parameters during the movement. Specifically, it includes: determining the position and angle of the pose measurement component when the movement stops based on the pose-related parameters during the movement, and determining the position and angle of the real ultrasonic probe 1 when the movement stops based on the position and angle of the pose measurement component when the movement stops and the distance between the pose measurement component and the real ultrasonic probe 1. The position of the real ultrasonic probe 1 when the movement stops is: [x t +c·cos(π+α), y t +c·cos(π+β), z t +c·cos(π+γ)], where x t +c·cos(π+α) is the x coordinate of the real ultrasonic probe 1 when the movement stops, x t is the x coordinate of the pose measurement component when the movement stops, c is the distance between the pose measurement component and the real ultrasonic probe 1, and α is the angle between the pose measurement component and the X-axis when the movement stops;

[0056] y t +c·cos(π+β) is the y coordinate of the real ultrasonic probe 1 when the movement stops, y t is the y coordinate of the pose measurement component when the movement stops, and β is the angle between the pose measurement component and the Y-axis when the movement stops;

[0057] z t +c·cos(π+γ) is the z coordinate of the real ultrasonic probe 1 when the movement stops, z t is the z coordinate of the pose measurement component when the movement stops, and γ is the angle between the pose measurement component and the Z-axis when the movement stops.

[0058] The angle of the real ultrasonic probe 1 is the same as that of the pose measurement component.

[0059] When the pose measurement component includes the second three-axis gyroscope 3 and the optoelectronic displacement sensor 4, similar to the first three-axis gyroscope 2, the angle of the second three-axis gyroscope 3 can be determined, and based on the displacement obtained by the optoelectronic displacement sensor 4, the position of the optoelectronic displacement sensor 4 can be obtained.

[0060] As Figure 4 shown, taking the example of a detector performing a detection task of the blood flow velocity in the cranial blood vessels once, the basic process of the ultrasonic transcranial detection system of this embodiment is described. In this basic process, the pose measurement component includes the first three-axis gyroscope 2, and the specific steps are as follows:

[0061] Step 1: Bind the first three-axis gyroscope 2 to the real ultrasonic probe 1.

[0062] Step 2: Measure the contour of the real head of the object to be measured.

[0063] Measure the contour of the real head of the object to be measured through the head measurement module, and input the measured contour data into the data acquisition module of the software part.

[0064] Step 3: Based on the measured contour data, construct a virtual head shape model, and construct virtual blood vessels in the virtual head shape model through the well-known general blood vessel positions to obtain a virtual head, and construct a 3D model of the real ultrasonic probe 1 to obtain a virtual ultrasonic probe.

[0065] In order to improve the measurement accuracy, the 3D model module of the software part will construct 3D models of the head, the blood vessels in the head, and the real ultrasonic probe 1 according to the measurement results of Step 2, which can be completed using 3DsMax and Unity.

[0066] Step 4: Place the real ultrasonic probe 1 at a certain position on the real head of the object to be measured that is preset.

[0067] In order to align the position in the real physical space with the position in the 3D virtual space, initially, the real ultrasonic probe 1 needs to be placed at a certain position on the real head of the object to be measured, and this position is the same as the relative position between the virtual ultrasonic probe and the virtual head in the 3D virtual space, and initially, the real ultrasonic probe 1 and the virtual ultrasonic probe are at the same angle.

[0068] Step 5: Wait for the measurement start instruction from the detector.

[0069] After the position in the real physical space is aligned with the position in the 3D virtual space, the detector can start the detection.

[0070] Step 6: The detector starts to move the real ultrasonic probe 1 to the detection point on the real head, and at the same time adjusts the angle to perform ultrasonic detection.

[0071] Step 7: The first three-axis gyroscope 2 will collect the angular velocity and acceleration of the real ultrasonic probe 1 in real time, and then transmit them to the data acquisition module through the USB interface. The data acquisition module then transmits them to the data operation module. The data operation module will calculate the current motion state and position trajectory (i.e., position and angle) of the real ultrasonic probe 1, and then transmit this information to the 3D model module.

[0072] Step 8: The 3D model module will update the position and angle of the virtual ultrasonic probe in the virtual skull in real time according to the motion state and position trajectory, and based on the information such as the ultrasonic shape, size, detection depth, etc. of the current real ultrasonic probe 1, use the virtual ultrasonic probe to emit virtual ultrasonic waves into the virtual skull.

[0073] Step 9: During the process of a detection task, the processes of the above-mentioned Step 6 to Step 8 will be continuously repeated until the current detection task is completed.

[0074] Thus, the entire detection task is completed. When a new detection task arrives, the above-mentioned Step 1 to Step 9 will be repeated.

[0075] In this embodiment, the first three-axis gyroscope 2 is used to track the position and angle of the real ultrasonic probe 1, synchronously change the position and angle of the virtual ultrasonic probe, and use the virtual ultrasonic probe to detect the virtual skull, simulating the detection process of the real ultrasonic probe 1 on the real skull, dynamically and three-dimensionally displaying the skull contour and blood vessel distribution, simultaneously dynamically switching the observation angle, dynamically displaying the motion trajectory and angle adjustment of the real ultrasonic probe 1, and dynamically displaying the relative position information such as the included angle between the ultrasonic wave and the blood vessel.

[0076] This embodiment introduces the photoelectric displacement sensor 4 to improve the measurement and perception accuracy of displacement.

[0077] This embodiment introduces devices such as 3D image modeling technology, gyroscope angle sensor, and photoelectric displacement sensor 4 to more intuitively, real-timely and dynamically present the entire process of ultrasonic transcranial detection, guiding and assisting the detector of ultrasonic transcranial detection to perform ultrasonic transcranial detection more quickly and accurately.

[0078] In modern ultrasonic detection technology, transcranial ultrasonic detection is a commonly used non-invasive diagnostic tool. It is a non-invasive and relatively safe detection technology, widely used in the early screening of cerebrovascular problems, the monitoring of stroke, and the detection of other brain problems. The transcranial ultrasonic detection technology emits ultrasonic signals through an ultrasonic probe and receives the reflected signals to analyze the frequency characteristics. However, the existing transcranial ultrasonic detection methods still have certain limitations in terms of accuracy, positioning, and operation convenience. At the same time, transcranial ultrasonic detection has certain requirements for the professional experience and technology of the detector. To overcome these problems, some auxiliary technologies for transcranial ultrasonic detection have emerged in recent years. Some of them combine three-dimensional imaging technology to display the approximate distribution of the main blood vessels in the skull through a more intuitive three-dimensional view, but most of them are static images and cannot dynamically reflect the angle of the actual ultrasonic probe and the angle and relative position between the detection beam and the blood vessels, that is, these technologies still have difficulties in accurately tracking the position and posture of the ultrasonic probe in real time and lack real-time dynamic accurate tracking of the state of the ultrasonic probe. Especially when processing real-time ultrasonic signals, the accuracy is often affected by the tiny angle and displacement of the probe. In this context, this embodiment proposes a method for assisting transcranial ultrasonic detection based on 3D modeling and sensor technology, aiming to assist ultrasonic detection by introducing 3D modeling technology, high-precision optoelectronic displacement sensors, and angle sensors, guiding the detector to perform ultrasonic detection, and achieving accurate detection of the brain condition.

[0079] Although the existing technology has made certain progress in transcranial ultrasonic detection, there is still room for improvement. The existing technology lacks in-depth integration with advanced technologies such as virtual reality, which restricts the innovation and upgrade of detection means. In this context, this embodiment proposes a transcranial ultrasonic detection system based on virtual reality technology, aiming to assist ultrasonic detection by introducing virtual reality technology and pose measurement components, optimizing the propagation path and focusing effect of ultrasonic waves, so as to achieve accurate detection of the brain condition.

[0080] This embodiment assists ultrasonic detection by introducing three-dimensional image reconstruction technology and pose measurement components, optimizing the propagation path and focusing effect of ultrasonic waves, enabling experts to observe and analyze intracranial structures more intuitively and in real time. Subsequently, doctors diagnose based on the detection data of the real ultrasonic probe 1, which is convenient for improving the accuracy and efficiency of doctors' diagnosis, thus facilitating the accurate detection and treatment of brain diseases. Due to the improved efficiency, it can solve the problems existing in the existing technology that patients may feel uncomfortable due to body position discomfort or maintaining the same posture for a long time during the detection process, affecting the comfort and efficiency of the detection.

[0081] This embodiment can solve the following key technical problems:

[0082] (1) Problem of limited imaging dimension:

[0083] In this embodiment, by introducing virtual reality technology, a three-dimensional intracranial structure image is constructed, enabling experts to observe and analyze the intracranial structure more intuitively, in real time, and comprehensively, thereby improving the accuracy and precision of diagnosis.

[0084] (2) Problem of strong operation dependence:

[0085] In this embodiment, through virtual reality technology and the tracking of real-time operation trajectories, it assists the detector to find blood vessels faster and more precisely and adjust the angle of the real ultrasonic probe 1 for detection, reducing the dependence on the experience and technical level of the detector.

[0086] (3) Problem of insufficient technology integration:

[0087] In this embodiment, virtual reality and sensor technologies are deeply integrated with the ultrasonic transcranial detection technology to achieve seamless docking and collaborative work among these technologies. Through virtual reality technology, the virtual skull and blood vessel distribution are reconstructed, and at the same time, a pose measurement component is used to track the real-time operation trajectory of the real ultrasonic probe 1 held by the detector, realizing three-dimensional dynamic real-time construction and tracking to provide auxiliary guidance for the detector's skull examination.

[0088] (4) Problem of high requirements for the detector:

[0089] In this embodiment, by introducing 3D modeling technology, a 3D structure model of intracranial blood vessels is constructed, and at the same time, through multi-sensor data, the state of the ultrasonic probe is accurately tracked in real time and dynamically, enabling the detector of ultrasonic transcranial detection to perform actual detection operations more specifically, vividly, conveniently, and quickly, reducing the requirements for the detector's knowledge structure and operation experience.

[0090] (5) Problem of lack of real-time dynamic and precise tracking of the state of the ultrasonic probe:

[0091] The precise measurement of small displacements is carried out through the optoelectronic displacement sensor 4, and the angle information of the ultrasonic probe is obtained through the second three-axis gyroscope 3 to achieve precise tracking of the state of the ultrasonic probe.

[0092] In summary, this embodiment aims to solve the shortcomings of the existing technology in ultrasonic transcranial detection, provide an auxiliary function for ultrasonic transcranial detection based on the Doppler effect, reduce the complexity of its operation, achieve real-time dynamic and precise tracking of the state of the ultrasonic probe, improve its detection efficiency and accuracy, thereby providing a more advanced, efficient, and patient-friendly detection system, which will help improve the accuracy and efficiency of diagnosis, optimize the detection experience of patients, and promote the innovation and development of ultrasonic transcranial detection technology.

[0093] Example 2

[0094] This embodiment provides an ultrasonic transcranial detection method based on virtual reality technology, which is applied to the ultrasonic transcranial detection system based on virtual reality technology described in Example 1. Figure 5 As shown, the ultrasonic transcranial detection method based on virtual reality technology includes:

[0095] S1: Acquire posture-related parameters of a real ultrasonic probe measured by a posture measurement component during a movement from a first position point to a second position point on the real head of the measured object.

[0096] S2: Determine the position and angle of the actual ultrasonic detection head when it stops moving based on the posture-related parameters during the movement.

[0097] S3: Moving the virtual ultrasonic probe head based on the position and angle of the real ultrasonic probe head when it stops moving, so that the posture of the virtual ultrasonic probe head relative to the virtual head is the same as the posture of the real ultrasonic probe head relative to the real head. When the virtual ultrasonic probe head stops moving, the virtual head is detected by the virtual ultrasonic probe head, and the detection results are displayed; wherein, there are virtual blood vessels in the virtual head.

[0098] Before obtaining the posture-related parameters of the real ultrasonic probe during the movement from the first position point to the second position point of the real head of the measured object measured by the posture measurement component, the ultrasonic transcranial detection method based on virtual reality technology of this embodiment further includes: pre-building a virtual head and a virtual ultrasonic probe, specifically including:

[0099] (1) Obtain the contour data of the real head of the object being measured.

[0100] (2) A virtual head shape model is constructed based on the contour data, and virtual blood vessels are added to the virtual head shape model based on the real blood vessels in the real head to obtain a virtual head.

[0101] (3) Obtain the shape and size data of the real ultrasonic probe.

[0102] (4) Construct a virtual ultrasonic detection head based on shape data and size data.

[0103] After constructing the virtual head and the virtual ultrasonic probe head, the ultrasonic transcranial detection method based on virtual reality technology of this embodiment also includes: moving the virtual ultrasonic probe head to a preset initial position of the virtual head, and the virtual ultrasonic probe head is at a preset initial angle at the preset initial position, the preset initial position is the same as the initial position of the real ultrasonic probe head on the real head, and the real ultrasonic probe head is at a preset initial angle at the initial position.

[0104] Use a virtual ultrasonic probe to detect a virtual skull, specifically including: setting the virtual ultrasonic probe to emit virtual ultrasonic waves towards the virtual skull to detect the virtual skull with the virtual ultrasonic probe. The shape and size of the virtual ultrasonic waves are the same as those of the ultrasonic waves emitted by a real ultrasonic probe, and the detection depth of the virtual ultrasonic waves is the same as that of the ultrasonic waves emitted by the real ultrasonic probe.

[0105] Display the detection result, specifically including: displaying the virtual blood vessels within the coverage of the virtual ultrasonic waves.

[0106] Embodiment 3

[0107] In an exemplary embodiment, a computer device is provided. The computer device can be a server or a terminal, and its internal structure diagram can be as shown in Figure 6 Figure. The computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O), and a communication interface. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, it implements an ultrasonic transcranial detection method based on virtual reality technology.

[0108] Those skilled in the art can understand that Figure 6 the structure shown in is only a block diagram of some structures related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0109] In an exemplary embodiment, a computer device is provided, including a memory and a processor. A computer program is stored in the memory, and when the processor executes the computer program, it implements the ultrasonic transcranial detection method based on virtual reality technology in Embodiment 2.

[0110] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use, and processing of relevant data need to comply with relevant regulations.

[0111] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0112] Specific examples are used in this article to elaborate on the principles and implementation manners of this application. The description of the above embodiments is only used to help understand the method and its core idea of this application; at the same time, for those of ordinary skill in the art, based on the idea of this application, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to this application.

Claims

1. An ultrasonic transcranial detection system based on virtual reality technology, characterized in that, The ultrasonic transcranial detection system based on virtual reality technology includes: A pose measurement component, fixedly connected to the real ultrasonic probe, for measuring the pose-related parameters of the real ultrasonic probe during the movement from the first position point to the second position point of the real head of the measured object. A virtual reality component, communicatively connected to the pose measurement component, for determining the position and angle of the real ultrasonic probe when the movement stops based on the pose-related parameters during the movement, and moving the virtual ultrasonic probe based on the position and angle of the real ultrasonic probe when the movement stops, so that the pose of the virtual ultrasonic probe relative to the virtual head is the same as the pose of the real ultrasonic probe relative to the real head. When the virtual ultrasonic probe stops moving, the virtual ultrasonic probe is used to detect the virtual head and display the detection result; wherein, there are virtual blood vessels in the virtual head.

2. The ultrasonic transcranial detection system based on virtual reality technology according to claim 1, wherein The pose measurement component includes a first three-axis gyroscope. At this time, the pose-related parameters include the angular velocity and acceleration of the real ultrasonic probe obtained by the first three-axis gyroscope. Alternatively, the pose measurement component includes a second three-axis gyroscope and a photoelectric displacement sensor. At this time, the pose-related parameters include the angular velocity and acceleration of the real ultrasonic probe obtained by the second three-axis gyroscope and the displacement of the real ultrasonic probe obtained by the photoelectric displacement sensor.

3. The ultrasonic transcranial detection system based on virtual reality technology according to claim 1, wherein The virtual reality component includes: A data acquisition module, communicatively connected to the pose measurement component, for acquiring the pose-related parameters during the movement measured by the pose measurement component. A data operation module, communicatively connected to the data acquisition module, for determining the position and angle of the real ultrasonic probe when the movement stops based on the pose-related parameters during the movement. A 3D model module, communicatively connected to the data acquisition module and the data operation module respectively, for pre-constructing a virtual head and a virtual ultrasonic probe, and moving the virtual ultrasonic probe based on the position and angle of the real ultrasonic probe when the movement stops, so that the pose of the virtual ultrasonic probe relative to the virtual head is the same as the pose of the real ultrasonic probe relative to the real head. When the virtual ultrasonic probe stops moving, the virtual ultrasonic probe is used to detect the virtual head and display the detection result.

4. The ultrasonic transcranial detection system based on virtual reality technology according to claim 2, characterized in that, When the pose measurement component includes a first three-axis gyroscope, the position and angle of the real ultrasonic probe head at the stop of movement are determined based on the pose-related parameters during the movement, specifically including: determining the position and angle of the pose measurement component at the stop of movement based on the pose-related parameters during the movement, and determining the position and angle of the real ultrasonic probe head at the stop of movement based on the position and angle of the pose measurement component at the stop of movement and the distance between the pose measurement component and the real ultrasonic probe head; where the position of the real ultrasonic probe head at the stop of movement is: [x t + c·cos(π + α), y t + c·cos(π + β), z t + c·cos(π + γ)], where x t + c·cos(π + α) is the x coordinate of the real ultrasonic probe head at the stop of movement, x t is the x coordinate of the pose measurement component at the stop of movement, c is the distance between the pose measurement component and the real ultrasonic probe head, and α is the angle between the pose measurement component and the X-axis at the stop of movement; y t + c·cos(π + β) is the y coordinate of the real ultrasonic probe head at the stop of movement, y t is the y coordinate of the pose measurement component at the stop of movement, and β is the angle between the pose measurement component and the Y-axis at the stop of movement; z t + c·cos(π + γ) is the z coordinate of the real ultrasonic probe head at the stop of movement, z t is the z coordinate of the pose measurement component at the stop of movement, and γ is the angle between the pose measurement component and the Z-axis at the stop of movement.

5. An ultrasonic transcranial detection method based on virtual reality technology, which is applied to the ultrasonic transcranial detection system based on virtual reality technology described in any one of claims 1-4, and is characterized in that, The ultrasonic transcranial detection method based on virtual reality technology includes: Obtaining the pose-related parameters of the real ultrasonic probe during the movement from the first position point to the second position point of the real head of the measured object measured by the pose measurement component. Determining the position and angle of the real ultrasonic probe when the movement stops based on the pose-related parameters during the movement. Moving the virtual ultrasonic probe based on the position and angle of the real ultrasonic probe when the movement stops, so that the pose of the virtual ultrasonic probe relative to the virtual head is the same as the pose of the real ultrasonic probe relative to the real head. When the virtual ultrasonic probe stops moving, the virtual ultrasonic probe is used to detect the virtual head and display the detection result; wherein, there are virtual blood vessels in the virtual head.

6. The ultrasonic transcranial detection method based on virtual reality technology according to claim 5, wherein, Before obtaining the pose-related parameters of the real ultrasonic probe during the movement from the first position point to the second position point of the real skull of the measured object, the ultrasonic transcranial detection method based on virtual reality technology further includes: pre-constructing a virtual skull and a virtual ultrasonic probe, specifically including: Obtaining the contour data of the real skull of the measured object; Constructing a virtual skull shape model according to the contour data, and adding virtual blood vessels in the virtual skull shape model based on the real blood vessels in the real skull to obtain a virtual skull; Obtaining the shape data and size data of the real ultrasonic probe; Constructing a virtual ultrasonic probe according to the shape data and size data.

7. The ultrasonic transcranial detection method based on virtual reality technology according to claim 6, wherein After constructing the virtual skull and the virtual ultrasonic probe, the ultrasonic transcranial detection method based on virtual reality technology further includes: moving the virtual ultrasonic probe to a preset initial position of the virtual skull, and the virtual ultrasonic probe is at a preset initial angle at the preset initial position; the preset initial position is the same as the initial position of the real ultrasonic probe on the real skull, and the real ultrasonic probe is at a preset initial angle at the initial position.

8. The ultrasonic transcranial detection method based on virtual reality technology according to claim 5, characterized in that, Detecting the virtual skull by using the virtual ultrasonic probe, specifically including: Setting the virtual ultrasonic probe to emit virtual ultrasonic waves to the virtual skull to detect the virtual skull by using the virtual ultrasonic probe; the shape and size of the virtual ultrasonic waves are the same as those of the ultrasonic waves emitted by the real ultrasonic probe, and the detection depth of the virtual ultrasonic waves is the same as the detection depth of the ultrasonic waves emitted by the real ultrasonic probe.

9. The ultrasonic transcranial detection method based on virtual reality technology according to claim 8, characterized in that Displaying the detection result, specifically including: displaying the virtual blood vessels within the coverage of the virtual ultrasonic waves.

10. A computer device, comprising: A memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes the computer program to implement the ultrasonic transcranial detection method based on virtual reality technology according to any one of claims 5-9.

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