Ultrasonic patch probe and ultrasonic imaging equipment suitable for ultrasonic guided interventional surgical robot

Abstract

The embodiment of the invention relates to the field of ultrasonic diagnosis, in particular to an ultrasonic patch probe and ultrasonic imaging equipment suitable for an ultrasonic guided interventional surgical robot. According to the ultrasonic patch probe, the cable supporting assembly and the probe containing assembly are arranged to be detachably connected, forming and releasing of electric connection between the electric connection assembly and the detection assembly are achieved, the cable supporting assembly is released from the body surface of a to-be-detected object, the position of a cable can be conveniently adjusted, and mutual interference is prevented; the probe containing assembly is fixed to the body surface of the to-be-detected object, repeated probe positioning is avoided, long-term heart activity monitoring is facilitated, and the to-be-detected object can move freely without being bound by the cable when heart ultrasonic detection is not needed. According to the ultrasonic imaging equipment, an ultrasonic patch probe is in communication connection with an ultrasonic image processing device, so that when heart ultrasonic monitoring is needed, the ultrasonic image processing device obtains heart function data in real time; when cardiac ultrasonic monitoring is not needed temporarily, the to-be-detected object can move freely.

Description

Technical Field

[0001] Embodiments of the present application relate to the field of ultrasonic diagnosis, and in particular, to an ultrasonic patch probe and an ultrasonic imaging device applicable to an ultrasonic-guided interventional surgical robot. Background Art

[0002] The statements herein merely provide background information related to the present application and do not necessarily constitute prior art.

[0003] An ultrasonic patch probe is a miniaturized and lightweight probe that can be attached to the skin surface of a detection object for a long time and can perform long-term ultrasonic imaging monitoring on the detection object. The ultrasonic patch probe can be used for ICU or inpatients to perform long-term ultrasonic monitoring on organs such as the heart or muscle tissues. Summary of the Invention

[0004] A brief overview of the present application is given below to provide a basic understanding of certain aspects of the present application. It should be understood that this overview is not an exhaustive overview of the present application. It is not intended to identify the key or important parts of the present application, nor is it intended to limit the scope of the present application. Its purpose is merely to present certain concepts in a simplified form as a prelude to the more detailed description that follows.

[0005] One aspect of the embodiments of the present application provides an ultrasonic patch probe applicable to an ultrasonic-guided interventional surgical robot for ultrasonic monitoring of a detection object to be detected, which includes: a cable support assembly; a probe housing assembly; an electrical connection assembly disposed on the cable support assembly; a detection assembly disposed on the probe housing assembly, the electrical connection assembly being configured to be electrically connected to the detection assembly, and the detection assembly being configured to perform ultrasonic detection on the detection object to be detected, and the electrical connection assembly being configured to transmit an ultrasonic probe signal from the detection assembly to the outside through the cable support assembly; wherein, the cable support assembly and the probe housing assembly are configured to be detachably connected.

[0006] Another aspect of the embodiments of the present application provides an ultrasonic imaging device applicable to an ultrasonic-guided interventional surgical robot, including the aforementioned ultrasonic patch probe and an ultrasonic image processing device, the ultrasonic patch probe being configured to be communicatively connected to the ultrasonic image processing device, and the ultrasonic image processing device being configured to receive and process cardiac ultrasonic images acquired by the ultrasonic patch probe.

[0007] The ultrasonic patch probe provided by the embodiment of the present application for an ultrasonic-guided interventional surgical robot enables the electrical connection component disposed on the cable support component to be separated from the detection component disposed on the probe accommodation component by setting the cable support component and the probe accommodation component to be detachably connected, thereby realizing the formation and release of electrical connection. In this way, the cable support component connected to the outside can be disconnected from the body surface of the object to be detected, facilitating the adjustment of the position of the external cable and preventing mutual interference; the probe accommodation component is kept fixed to the body surface of the object to be detected, so that the position of the probe on the patient's body surface is fixed, avoiding repeated fixation and position adjustment of the probe, which helps long-term monitoring of cardiac activity and enables the object to be detected to be free from cable restraint and move freely when cardiac ultrasound detection is not required.

[0008] The ultrasonic imaging device provided by the embodiment of the present application for an ultrasonic-guided interventional surgical robot enables the ultrasonic image processing device to receive and perform real-time processing on the cardiac ultrasonic images obtained from the ultrasonic patch probe when the object to be detected needs cardiac ultrasound monitoring by communicatively connecting the ultrasonic patch probe with the ultrasonic image processing device, so as to obtain the cardiac function data of the object to be detected in real time; when the object to be detected temporarily does not need cardiac ultrasound monitoring, the connection with the body surface of the object to be detected can be released, so that the range of movement of the object to be detected is not restricted by the cable. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to further elaborate the above and other advantages and features of the present application, the following provides a more detailed description of the specific embodiments of the present application with reference to the drawings. The drawings are included in this specification and form a part of this specification together with the following detailed description. Elements having the same function and structure are denoted by the same reference numerals. It should be understood that these drawings only depict typical examples of the present application and should not be regarded as limiting the scope of the present application.

[0010] Figure 1 is an exploded view of the components of the ultrasonic patch probe provided by the embodiment of the present application; Figure 2 is a cross-sectional view of the ultrasonic patch probe provided by the embodiment of the present application; Figure 3 is a cross-sectional view of the cable support component and the electrical connection component provided by the embodiment of the present application; Figure 4 is a schematic diagram of the cooperation of the electrical connector with the first circuit board and the second circuit board provided by the embodiment of the present application; Figure 5 is a detailed schematic diagram of the electrical connector provided by the embodiment of the present application; Figure 6 is a schematic diagram of the cooperation of the detection component and the probe accommodation component provided by the embodiment of the present application; Figure 7 It is a schematic diagram of the rectangular distribution of the contacts provided by the embodiment of the present application; Figure 8 It is a schematic diagram of the radial distribution of the contacts provided by the embodiment of the present application; Figure 9 It is a structural block diagram of the ultrasonic image processing device provided by the embodiment of the present application.

[0011] Description of the reference numerals: 10. Cable support assembly; 11. Support member; 111. Main body part; 112. Limiting part; 113. Extension part; 1131. First continuous outer wall; 1132. Second continuous outer wall; 1133. Third continuous outer wall; 12. Cable; 13. First connecting member; 20. Probe accommodation assembly; 21. Accommodating member; 211. First accommodation part; 2110. Continuous outer surface; 2111. First continuous inner wall; 2112. Second continuous inner wall; 212. Second accommodation part; 22. Second connecting member; 30. Electrical connection assembly; 31. Electrical connecting member; 311. Free part; 312. Fixed part; 313. Connecting part; 314. Adjusting part; 315. Stopping part; 32. First circuit board; 321. Connection hole; 322. Connection point; 40. Detection assembly; 41. Detection member; 42. Second circuit board; 421. Contact; 4210. First diameter; 4211. Second diameter; 43. Transition member; 44. Adhesive coupling material layer; The ultrasonic image processing device 100; 101. Acquisition module; 102. Preprocessing module; 103. Basic feature extraction module; 104. Associated feature extraction module; 105. Feature fusion module; 106. Deployment optimization module. Detailed implementation manners

[0012] In the following, exemplary embodiments of the present application will be described in conjunction with the accompanying drawings. For the sake of clarity and conciseness, not all features of the actual implementation manners are described in the specification. However, it should be understood that many implementation-specific decisions must be made during the development of any such actual implementation manner in order to achieve the specific goals of the developer, for example, to comply with those limitations related to the system and business, and these limitations may vary with different implementation manners. In addition, it should also be understood that although the development work may be very complex and time-consuming, for those skilled in the art who benefit from the content of the present application, such development work is only a routine task.

[0013] Here, it should also be noted that, in order to avoid obscuring the present application due to unnecessary details, only the device structures and / or processing steps closely related to the solution according to the present application are shown in the drawings, while other details less relevant to the present application are omitted.

[0014] The following disclosure provides multiple different embodiments or examples for implementing the present application. To simplify the disclosure of the present application, the components and methods of specific examples are described below. Of course, they are only examples and are not intended to limit the present application. In the description of the embodiments of the present application, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0015] Currently, the cable of the existing ultrasonic patch probe and the probe are usually integrally and fixedly connected, and the angle of the cable relative to the probe cannot be adjusted. When a patient needs to be continuously monitored multiple times during ICU stay or hospitalization, each time lasting from a few minutes to several hours, each monitoring requires the doctor to re-find the ultrasonic imaging section and reattach and fix the probe, which is cumbersome and has poor usability. Moreover, during long-term monitoring, the patient's range of motion is restricted by the cable of the ultrasonic imaging device, and the range of motion is limited. When a larger range of motion is required, only the probe and the cable can be removed, and after the activity ends, the imaging section needs to be re-found and the probe needs to be reattached and fixed. Moreover, in addition to using this patch probe for ultrasonic monitoring, there are usually many other monitoring devices on the patient, such as electrocardiogram devices, blood oxygen monitoring devices, etc. These devices all have their own cables. Since the angle of the probe cable relative to the probe cannot be adjusted, the probe cable of this conventional ultrasonic patch probe is prone to interference with other monitoring devices and is not convenient for adjusting the cable accordingly.

[0016] One aspect of the embodiments of the present application provides an ultrasonic patch probe applicable to an ultrasonic-guided interventional surgical robot for ultrasonic monitoring of a to-be-detected object. Figure 1 Shows an exploded schematic diagram of the components of the ultrasonic patch probe provided by the embodiments of the present application. Figure 2 Shows a cross-sectional schematic diagram of the ultrasonic patch probe provided by the embodiments of the present application. As Figure 1 and Figure 2 shown, the ultrasonic patch probe includes: a cable support assembly 10; a probe housing assembly 20; an electrical connection assembly 30, the electrical connection assembly 30 is disposed on the cable support assembly 10; a detection assembly 40, the detection assembly 40 is disposed in the probe housing assembly 20, the electrical connection assembly 30 is configured to be electrically connected to the detection assembly 40, and the detection assembly 40 is configured to perform ultrasonic detection on the to-be-detected object, and the electrical connection assembly 30 is configured to transmit the ultrasonic probe signal from the detection assembly 40 to the outside through the cable support assembly 10; wherein, the cable support assembly 10 and the probe housing assembly 20 are configured to be detachably connected.

[0017] The ultrasonic patch probe provided by the embodiments of the present application and applicable to an ultrasonic-guided interventional surgical robot enables the electrical connection component 30 disposed on the cable support component 10 to be separated from the detection component 40 disposed on the probe accommodation component 20 by detachably connecting the cable support component 10 and the probe accommodation component 20, thereby realizing the formation and release of electrical connection. In this way, the cable support component 10 connected to the outside can be disconnected from the surface of the object to be detected, facilitating the adjustment of the position of the external cable and preventing mutual interference; the probe accommodation component 20 is kept fixed to the surface of the object to be detected, so that the position of the probe on the patient's body surface is fixed, avoiding repeated fixation and position adjustment of the probe, which is helpful for long-term monitoring of cardiac activities. Also, the object to be detected can be freed from the cable restraint when cardiac ultrasound detection is not required, enabling free movement.

[0018] In some embodiments, as Figure 2 shown, the cable support component 10 includes a support member 11, a cable 12, and a first connector 13. The probe accommodation component 20 includes an accommodation member 21 and a second connector 22. The first connector 13 is fixedly connected to the support member 11. One end of the cable 12 is fixed to the support member 11, and the other end is connected to the outside. The electrical connection component 30 is disposed on the support member 11, the detection component 40 is disposed on the accommodation member 21, the second connector 22 is fixedly connected to the accommodation member 21, and the first connector 13 and the second connector 22 are configured to be detachably connected and matched. When the first connector 13 and the second connector 22 are connected and matched, the electrical connection component 30 is configured to be electrically connected to the detection component 40.

[0019] In some embodiments, the support member 11 and the accommodation member 21 are detachably connected through the disassembly and assembly cooperation between the first connector 13 and the second connector 22, thereby driving the electrical connection component 30 and the detection component 40 to approach or move away from each other respectively. The connection relationship between the cable 12 and the object to be detected can be removed, and only the probe accommodation component 2 and the detection component 40 are kept fixed to the object to be detected, enabling the object to be detected to be freed from the restraint of the cable 12 and realizing free movement when ultrasonic monitoring is not required. Also, when ultrasonic monitoring needs to be performed again, there is no need to reposition the position and angle of the detection component 40. The electrical connection between the electrical connection component 30 and the detection component 40 can be realized again by fixing the support member 11 and the accommodation member 21 through the first connector 13 and the second connector 22.

[0020] In some embodiments, the cable 12 can be configured to pass through the support member 11 and extend to be fixed to the electrical connection component 30, so that the cable 12 can receive ultrasonic signals through the electrical connection between the electrical connection component 30 and the detection component 40 and transmit them to an external processing device for real-time processing of the acquired ultrasonic signals.

[0021] In some embodiments, the first connecting member 13 and the second connecting member 22 may be made of materials that attract each other (e.g., magnetic materials); the first connecting member 13 and the second connecting member 22 may not be a continuous single part, but include a plurality of discrete parts (e.g., a plurality of corresponding magnetic attraction points), as long as they can ensure mutual attraction and fixation.

[0022] In some embodiments, one of the first connecting member 13 and the second connecting member 22 may be set as a hook and the other as a slot, and the hook and the slot cooperate with each other to achieve detachable connection.

[0023] In some embodiments, as Figure 2 shown, when the first connecting member 13 and the second connecting member 22 are connected and cooperated, a part of the support member 11 is inserted into the receiving member 21 so that the electrical connection assembly 30 and the detection assembly 40 form an electrical connection; when the first connecting member 13 and the second connecting member 22 are separated, the support member 11 is arranged to be able to drive the electrical connection assembly 30 to move synchronously so that the electrical connection assembly 30 and the detection assembly 40 are separated, thereby releasing the electrical connection.

[0024] Figure 3 The cross-sectional schematic diagram of the cable support assembly and the electrical connection assembly provided by the embodiments of the present application is shown. In some embodiments, as Figure 1 shown, the receiving member 21 may be arranged as a through structure, and the through structure forms two openings. As Figure 2 and Figure 3 shown, the support member 11 may be arranged as a structure with a T-shaped vertical section. The vertical part of the T-shaped structure can be partially inserted into one of the openings of the receiving member 21 to form a partially fitted structure, so as to play a guiding and limiting role when the support member 11 and the receiving member 21 are combined and fixed, and prevent mutual misalignment caused by external forces after combination.

[0025] Figure 6 The schematic diagram of the cooperation between the detection assembly and the probe receiving assembly provided by the embodiments of the present application is shown. In some embodiments, as Figure 6 shown, the receiving member 21 includes a first receiving portion 211 and a second receiving portion 212. The first receiving portion 211 and the second receiving portion 212 are integrally formed. The first receiving portion 211 forms a fitting space, and the second receiving portion 212 forms a detection space. The fitting space and the detection space are arranged to be communicated. The first receiving portion 211 and the second receiving portion 212 are arranged to have different inner diameters so that the first receiving portion 211 forms a transition port at the intersection of the detection space and the fitting space. The second connecting member 22 is disposed around the first receiving portion 211 where the transition port is formed. As Figure 2 shown, the support member 11 is arranged to be able to be partially inserted into the fitting space so that the first connecting member 13 and the second connecting member 22 are in contact and fixed.

[0026] In some embodiments, as Figure 6 shown, the first accommodating portion 211 is arranged as a through structure, and the through structure forms two opposite openings. The opening close to the detection space is a transition opening, and the transition opening is arranged to allow the second circuit board 42 to pass through and extend into the fitting space, so that the detection component 40 can make unobstructed contact with the plurality of electrical connectors 31 and maintain stable electrical connection; the second accommodating portion 212 is arranged to extend in a direction away from the fitting space and is formed with a detection opening, and the detection component 40 can be arranged to be adhesively fixed in the detection space.

[0027] In some embodiments, the electrical connection component 30 includes a plurality of electrical connectors 31 and a first circuit board 32. The first circuit board 32 is arranged between the support member 11 and the plurality of electrical connectors 31. The first circuit board 32 is arranged to be fixed to the support member 11, and the plurality of electrical connectors 31 are arranged to be fixedly connected to the first circuit board 32. The support member 11 is formed with a fitting opening, and the first connector 13 is arranged to surround the support member 11 at the fitting opening. The plurality of electrical connectors 31 are arranged to extend in the direction of the fitting opening, so that the plurality of electrical connectors 31 can contact the detection component 40.

[0028] Figure 4 The figure shows a schematic diagram of the cooperation between the electrical connector provided by the embodiment of the present application and the first circuit board and the second circuit board. In some embodiments, as Figure 4 shown, the first circuit board 32 can be arranged as a rectangle, and four connection holes 321 are respectively formed at the four corners of the first circuit board 32. The first circuit board 32 can be fixedly connected to the support member 11 through the connection holes 321 and bolts; a plurality of connection points 322 can also be formed on the first circuit board 32. The plurality of connection points 322 can be arranged to be welded, inserted or adhered to the first circuit board 32, and are arranged to correspond to the plurality of electrical connectors 31 one by one, so as to fix the plurality of electrical connectors 31 on the first circuit board and achieve electrical connection; the cable 12 can be fixed at the central position of the first circuit board 32 and communicate to the outside.

[0029] In some embodiments, the detection component 40 includes a detector 41 and a second circuit board 42. The detector 41 is arranged to be fixedly connected to the second circuit board 42. The shape of the second circuit board 42 is arranged to match the shape of the transition opening, so as to extend out of the transition opening and abut against the plurality of electrical connectors 31. The transition opening is arranged to have the same shape as the fitting opening and be communicated, so that the first connector 13 and the second connector 22 are aligned and fitted.

[0030] In some embodiments, the plurality of electrical connectors 31 are arranged not to extend out of the mating port, and the second circuit board 42 is arranged to extend out of the transition port. When the support member 11 is fixedly engaged with the first receiving portion 211, the plurality of electrical connectors 31 can just abut against the second circuit board 42 to form an electrical connection, which can not only maintain the stability of the electrical connection but also prevent the plurality of electrical connectors 31 from being damaged.

[0031] In some embodiments, the surface of the detection member 41 close to the detection port is an imaging surface. The imaging surface emits ultrasonic waves toward the object to be detected, and the imaging surface can be arranged flush with the detection port, concave with respect to the detection port, or convex with respect to the detection port.

[0032] In some embodiments, as Figure 2 shown, the detection opening is arranged to have an inner diameter smaller than the inner diameter of the detection space to stop the detection member 41 and prevent the detection member 41 from falling off the detection space; a bonding coupling material layer 44 can be arranged on the imaging surface. The bonding coupling material layer 44 has both adhesiveness and acoustic coupling ability. It is used to bond the detection member 41 to the skin of the object to be detected and can also perform acoustic coupling on the ultrasonic waves emitted by the detection member 41. This can not only increase the adhesiveness of the detection member 41, making the detection member 41 bond more firmly to the object to be detected, but also play an acoustic coupling role, reducing or even eliminating the problem that the liquid coupling liquid used when the detection member 41 is fixed to the detection object for a long time during ultrasonic monitoring is lost, thus affecting the imaging quality. The bonding coupling material layer 44 can include materials such as hydrogel, silicone gel, or silicone gel.

[0033] In some embodiments, the support member 11 includes a main body portion 111, a limiting portion 112, and an extending portion 113. The main body portion 111, the limiting portion 112, and the extending portion 113 are integrally formed. The main body portion 111 forms a receiving space. The extending portion 113 is arranged to be partially fixed in the receiving space and can extend out of the receiving space. The first circuit board 32 is arranged in the receiving space and is arranged to be fixedly connected to the extending portion 113. The limiting portion 112 is arranged to be fixed to the extending portion 113 and is arranged to allow the plurality of electrical connectors 31 to pass through.

[0034] In some embodiments, the first circuit board 32 is fixedly connected to the extending portion 113 through a plurality of connection holes 321. The limiting portion 112 is arranged to be fixed to the extending portion 113, and the extending range of the limiting portion 112 in the extending direction of the electrical connector 31 is smaller than the length of the electrical connector 31, so that a portion of the electrical connector 31 can be reserved for contact with the second circuit board 42.

[0035] In some embodiments, the extension portion 113 is configured to match the shape of the first receiving portion 211 so that the extension portion 113 can be partially inserted into the fitting space; the first connecting member 13 is configured to be fixed to the extension portion 113 and is configured to be able to contact or separate from the second connecting member 22 within the fitting space.

[0036] In some embodiments, as Figure 3 shown, the extension portion 113 is formed with a first continuous outer wall 1131, a second continuous outer wall 1132, and a third continuous outer wall 1133. Both the first continuous outer wall 1131 and the second continuous outer wall 1132 are formed by connecting the cross-sections located in different planes end to end. The first continuous outer wall 1131, the second continuous outer wall 1132, and the third continuous outer wall 1133 are sequentially spliced to form a partial outer contour of the fitting space; as Figure 3 shown, the first continuous outer wall 1131 is configured to be perpendicular to the plane where the third continuous outer wall 1133 is located. The first connecting member 13 is configured to be fixed and cover the third continuous outer wall 1133. The second continuous outer wall 1132 is disposed between the first continuous outer wall 1131 and the third continuous outer wall 1133 and is configured to be inclined at a predetermined angle.

[0037] In some embodiments, as Figure 6 shown, the first receiving portion 211 is formed with a continuous outer surface 2110, a first continuous inner wall 2111, a second continuous inner wall 2112, and a third continuous inner wall. Both the first continuous inner wall 2111 and the second continuous inner wall 2112 are formed by connecting the cross-sections located in different planes end to end. The first continuous inner wall 2111, the second continuous inner wall 2112, and the third continuous inner wall are sequentially spliced to form a partial outer contour of the fitting space; as Figure 2 shown, the first continuous inner wall 2111 is configured to be perpendicular to the plane where the third continuous inner wall is located. The second connecting member 22 is configured to cover or be embedded in the third continuous inner wall. The second continuous inner wall 2112 is disposed between the first continuous inner wall 2111 and the third continuous inner wall and is configured to be inclined at a predetermined angle so that the second continuous inner wall 2112 is parallel to the second continuous outer wall 1132. Such a setting makes it possible that when the extension portion 113 is partially inserted into the fitting space, due to the predetermined thickness of the first connecting member 13, the second continuous outer wall 1132 of the extension portion 113 and the second continuous inner wall 2112 do not contact each other, thus leaving a gap, avoiding the vacuum in the fitting space caused by the insertion of the support member 11, and facilitating the separation of the support member 11 from the first receiving portion 211.

[0038] In some embodiments, the third continuous inner wall is configured to have the same shape and size as the third continuous outer wall 1133 so that the first connecting member 13 and the second connecting member 22 are matched.

[0039] In some embodiments, the continuous outer surface 2110 may be arranged to be perpendicular to the first continuous inner wall 2111, so as to cooperate with the right-angled turning part of the T-shaped structure of the support member 11, thereby restricting the movement of the support member 11; the continuous outer surface 2110 may be arranged to be a non-angular surface to avoid scratching the operator or the object to be detected by the corners.

[0040] In some embodiments, an extension space is formed in the extension part 113, and the extension space is arranged such that the inner diameter is smaller than the inner diameter of the accommodation space, so that the extension range of the second circuit board 42 is larger than the extension range of the limiting part 112.

[0041] In some embodiments, the extension range of the first circuit board 32 being larger than the extension range of the limiting part 112 enables the first circuit board 32 to reserve a space for fixing to the extension part 113, thereby further fixing the positions of the plurality of electrical connectors 31, preventing the external force during the disassembly or mating process of the support member 11 and the accommodating member 21 from causing displacement of the electrical connectors 31, and ensuring stable electrical connection during each mating.

[0042] In some embodiments, the limiting part 112 is arranged to form a plurality of limiting holes, and the distribution of the plurality of limiting holes is arranged to correspond one-to-one with the distribution of the plurality of electrical connectors 31 to restrict the movement of the plurality of electrical connectors 31 in the circumferential direction.

[0043] In some embodiments, the limiting part 112 is used to fill the gaps between the plurality of electrical connectors 31, keeping the plurality of electrical connectors 31 relatively fixed to ensure that they can correspond one-to-one with the contacts 421 during each mating, making the electrical connection stable.

[0044] In some embodiments, a plurality of contacts 421 are formed on the second circuit board 42, and the arrangement of the plurality of contacts is arranged to be adapted to the arrangement of the plurality of electrical connectors 31, so that the plurality of contacts 421 are in one-to-one correspondence and contact with the plurality of electrical connectors 31.

[0045] Figure 7 Schematic diagram showing the contacts provided in the embodiments of the present application being distributed in a rectangular shape. In some embodiments, as Figure 7 shown, the second circuit board 42 may be arranged to be rectangular, and the plurality of contacts 421 formed thereon are arranged in a uniformly distributed rectangular pattern, and the plurality of electrical connectors 31 are correspondingly arranged in a uniformly distributed rectangular pattern, so as to achieve one-to-one correspondence between the plurality of electrical connectors 31 and the plurality of contacts 421, thereby establishing an electrical connection between the first circuit board 32 and the second circuit board 42; Figure 8 Schematic diagram showing the contacts provided in the embodiments of the present application being distributed in a radial pattern. As Figure 8As shown, the second circuit board 42 can be set to be circular, and a plurality of contacts 421 formed thereon are radially distributed. A plurality of electrical connectors 31 are correspondingly radially distributed. The plurality of contacts 421 can be arranged in a plurality of concentric rings, and the plurality of contacts are located on a plurality of diameters of the concentric rings. For example Figure 8 In Figure 8 , a predetermined angle is formed between the adjacent first diameter 4210 and the second diameter 4211, and the sizes of the plurality of predetermined angles are equal. When the plurality of electrical connectors 31 that are also radially distributed rotate as a whole, they can still maintain one-to-one correspondence with the plurality of contacts 421 by controlling the rotation angle, so that the electrical connectors 31 can drive the cable 12 to rotate during the rotation process, thereby changing the orientation of the cable 12, improving the flexibility of adjustment, and avoiding interference between the cable 12 and other device circuits.

[0046] In some embodiments, the contact 421 can be set as a groove or an electrode.

[0047] Figure 5 A detailed schematic diagram of the electrical connector provided by the embodiment of the present application is shown. In some embodiments, as Figure 5 shown, the electrical connector 31 includes a free portion 311, a fixed portion 312, a connecting portion 313, an adjusting portion 314, and a stopping portion 315. The fixed portion 312 and the connecting portion 313 are integrally formed and jointly form a cavity. The adjusting portion 314 is set to connect the fixed portion 312 and the stopping portion 315 and is set to have elasticity. The stopping portion 315 is set to connect the adjusting portion 314 and the free portion 311. The free portion 311 abuts against the second circuit board 42 to form an electrical connection. The free portion 311 receives the resistance from the electrical connection, and the resistance is transmitted to the adjusting portion 314 via the stopping portion 315, so that the elastic adjusting portion 314 buffers the resistance.

[0048] In some embodiments, the fixed portion 312 is set to be fixedly connected to the connection point 322 on the first circuit board 32, and the connecting portion 313 is set to extend away from the connection point 322 and form a cavity. The adjusting portion 314 can be set to abut against the fixed portion 312 and the stopping portion 315. The extending length of the free portion 311 is set to be able to extend out of the cavity in the natural state of the adjusting portion 314, so that the free portion 311 can abut against the contact 421 without obstruction.

[0049] In some embodiments, an opening is formed at one end of the cavity away from the fixed portion 312, and the inner diameter of the opening is set to be smaller than the inner diameter of the cavity, so that the free portion 311 can extend out of the cavity and the stopping portion 315 is constrained in the cavity.

[0050] In some embodiments, the size of the stop portion 315 is set to allow it to move radially within the cavity, and the size of the stop portion 315 is larger than the size of the opening, that is, the opening is in an inward state relative to the cavity, so that the stop portion 315 can move within the cavity but will not detach from the cavity from the opening, thereby ensuring the overall stability of the electrical connector 31 so as to form a stable electrical connection.

[0051] In some embodiments, as Figure 2 As shown, the second circuit board 42 is connected to the detection member 41 through a flexible circuit board (not shown in the figure), so that the detection member 41 forms a communication connection with the cable 12.

[0052] In some embodiments, a transition piece 43 may be provided between the second circuit board 42 and the detection piece 41. The transition piece 43 may be fixedly connected (for example, bonded) to the second circuit board 42 and the detection piece 41, respectively, to bridge the shape difference between the second circuit board 42 and the detection piece 41, and maintain the communication connection between the detection piece 41 and the second circuit board 42 through a flexible circuit board (not shown in the figure), thereby connecting the electrical connector 31, the first circuit board 32 and the cable 12 in sequence to form a communication connection path.

[0053] Another aspect of an embodiment of the present application provides an ultrasonic imaging device suitable for an ultrasound-guided interventional surgical robot, which includes the aforementioned ultrasonic patch probe and an ultrasonic image processing device. The ultrasonic patch probe is configured to be communicatively connected to the ultrasonic image processing device, and the ultrasonic image processing device is configured to be able to receive and process cardiac ultrasonic images acquired by the ultrasonic patch probe.

[0054] The embodiments of the present application provide an ultrasonic imaging device suitable for an ultrasound-guided interventional surgical robot. By connecting the ultrasonic patch probe to the ultrasonic image processing device for communication, when the object to be detected requires cardiac ultrasonic monitoring, the ultrasonic image processing device can receive the cardiac ultrasonic image obtained from the ultrasonic patch probe and perform real-time processing to obtain the cardiac function data of the object to be detected in real time; when the object to be detected temporarily does not need cardiac ultrasonic monitoring, the connection with the body surface of the object to be detected can be released, so that the range of movement of the object to be detected is not restricted by the cable.

[0055] Figure 9 FIG. 1 shows a block diagram of the structure of an ultrasonic image processing device provided by an embodiment of the present application. In some embodiments, as shown in FIG. Figure 9As shown, the ultrasonic image processing device 100 includes: an acquisition module 101 for continuously acquiring cardiac ultrasonic images of a patient at multiple time points; a preprocessing module 102 for segmenting the cardiac ultrasonic images to obtain a segmentation result; a basic feature extraction module 103 for extracting static features of the segmentation result; a correlation feature extraction module 104 for extracting dynamic features of the segmentation result; a feature fusion module 105 for combining the static features and the dynamic features and determining the volume change trend of pericardial effusion according to the combination; and a deployment optimization module 106 for lightweighting the combination so that it can process ultrasonic images in real time. It is possible to acquire cardiac ultrasonic images in multiple periods, which contain both spatial information and time information. By separately extracting the static features and dynamic features of the ultrasonic images, such separate processing can more effectively capture the information of these two different states, so as to avoid information interference between different modules and improve the pertinence of feature extraction; at the same time, avoid processing all dimensions of information simultaneously and save computing resources.

[0056] In some embodiments, the preprocessing module 102 is configured to be able to receive cardiac ultrasonic images and is configured to output a segmentation result of the ultrasonic images. The segmentation result includes a binary mask of the region where pericardial effusion is located in the cardiac ultrasonic image and a sequence of predicted values of the volume of pericardial effusion in the cardiac ultrasonic image.

[0057] In some embodiments, the cardiac ultrasonic image and the segmentation result satisfy the following relationship: .

[0058] Where, T represents the number of time points; t represents the period serial number; represents the features of the cardiac ultrasonic images corresponding to T periods respectively, and the features include texture, edge, and morphological feature information; Model represents the relationship between; represents the pixel-level segmentation result of the pericardial effusion region in the t-th period, and the output result is a binary mask; represents the sequence of predicted values of the pericardial effusion volume from the (t + 1)-th period to the (t + 10)-th period, with the unit of mL, for dynamically monitoring the effusion growth trend.

[0059] In some embodiments, the output result of the preprocessing module 102 is the segmented cardiac ultrasonic image of the pericardial effusion and the predicted sequence value of the pericardial effusion volume, so as to facilitate subsequent analysis of the pericardial effusion region and prediction of the pericardial effusion volume.

[0060] In some embodiments, the basic feature extraction module 103 includes: a first basic feature extraction unit for extracting the color and edge features of the cardiac ultrasound image; a second basic feature extraction unit for extracting the texture features of the cardiac ultrasound image; and a third basic feature extraction unit for extracting the morphological features of the cardiac ultrasound image. The first basic feature extraction unit, the second basic feature extraction unit, and the third basic feature extraction unit are arranged in parallel.

[0061] In some embodiments, by setting multiple parallel extraction units for extracting static features of the cardiac ultrasound image, the features extracted by each unit are complementary, facilitating feature stitching, and then outputting a consistent and comprehensive feature map.

[0062] In some embodiments, the first basic feature extraction unit includes one pooling layer and two dilated convolutional layers to enhance the grayscale distribution contrast and edge features in the region of pericardial effusion. The extraction of edge features satisfies the following relationship: 。

[0063] Wherein, represents the original pixel matrix of the input cardiac ultrasound image; represents the max pooling operation to reduce the resolution of the cardiac ultrasound image, thereby enhancing edge saliency; represents the dilated convolution with a dilation rate of 2 to expand the receptive field to capture long-distance edge features; and represents the convolutional kernel weight matrix for extracting edge features in different directions; represents the output edge feature map, which characterizes the grayscale difference boundary between pericardial effusion and surrounding tissues.

[0064] In some embodiments, setting one pooling layer can reduce the size of the feature map while retaining the most obvious color and edge features, reducing the computational amount and accelerating the subsequent processing speed; setting two dilated convolutional layers can avoid information loss caused by pooling and capture a larger range of context information.

[0065] In some embodiments, the second basic feature extraction unit includes three convolutional layers and one channel attention layer to quantify the internal intensity heterogeneity of pericardial effusion. The extraction of texture features satisfies the following relationship: 。

[0066] 。

[0067] Wherein, represents the feature map output by the third convolutional layer, which characterizes the local texture details in the region of pericardial effusion; denotes global average pooling, which compresses the feature map into a channel description vector; denotes the weights of the fully connected layer, which generates channel attention weights; denotes the Sigmoid activation function, which maps the weights to the interval [0, 1]; denotes the channel attention weights, which quantify the importance of different texture feature channels; denotes the weighted texture feature map, which represents the response of the heterogeneous region.

[0068] In some embodiments, setting three convolutional layers can achieve layer-by-layer understanding of the image from simple to complex to gradually extract multi-level features; setting one channel attention layer can achieve intelligent feature screening and highlight key features. Such a combination can balance the depth of the convolutional layer and the position of the attention, enabling both understanding of complex patterns and avoiding insufficient computing power, making the attention judgment more accurate.

[0069] In some embodiments, the third basic feature extraction unit includes four convolutional layers and a dynamic receptive field adjustment module. The size of the convolutional kernel gradually decreases to capture the global geometric shape of the region where pericardial effusion is located. The extraction of morphological features satisfies the following relationship: .

[0070] .

[0071] Wherein, denotes the feature map output by the fourth convolutional layer, which represents the geometric shape information of the encoded effusion region; denotes the dynamic convolutional kernel weights, which are used to calculate the feature point offset; denotes the spatial offset of the feature points, which adjusts the receptive field to adapt to the morphological changes of the effusion; and denotes the initial feature point position and the coordinates of adjacent points; denotes the learnable weight coefficient, which controls the contribution of different positions to the morphological features; denotes the original pixel matrix of the input cardiac ultrasound image; denotes the number of feature points, which is used to describe the total number of feature points considered or calculated during the feature extraction process; n denotes the feature point number, which is used to distinguish different feature points in the set; denotes the output morphological feature map, which represents the global contour and size changes of the pericardial effusion region.

[0072] In some embodiments, setting up four convolutional layers enables progressive analysis from global to local; setting up a dynamic receptive field adjustment module can adapt to targets of different sizes. This combination of hierarchical feature extraction and adaptive perception not only optimizes the computational efficiency, making the feature extraction process suitable for edge device deployment, but also enhances the model's robustness to complex scenarios, improving the accuracy and stability of real-time inference.

[0073] In some embodiments, the extraction of associated features satisfies the following relationship: .

[0074] Among them, represents the associated feature map extracted through 3D convolution operation, which contains dynamic information in the time series; represents the three-dimensional convolution operation, which can process information in both spatial and temporal dimensions simultaneously; represents the sequence of feature maps from t - k to t, which is the input of 3D convolution, where t represents the time point and k represents the size of the time window; represents the weight of the 3D convolution kernel, and the weight performs a dot product operation with the input feature map during convolution to extract associated features.

[0075] In some embodiments, the associated feature extraction module 104 may include an edge-texture associated feature extraction unit, a spatial associated feature extraction unit, and a temporal associated feature extraction unit.

[0076] The spatial associated feature extraction unit may include two convolutional layers and one spatial attention layer for modeling the edge continuity of the effusion region, where the convolutional kernel size can be set to 1×1; the edge-texture associated feature extraction unit may include zero pooling layers and three cross-channel convolutional layers. By completely eliminating the pooling layers, the spatial information loss caused by downsampling is thoroughly avoided, maintaining the original resolution of the feature map, while realizing cross-channel feature interaction, fusing the output of the spatial associated feature extraction unit, and realizing the modeling of the edge and texture of the effusion region; the temporal associated feature extraction unit can be set to perform 3D convolution using three, four, and five temporal convolutional layers respectively, which can capture the high-frequency changes between consecutive frames and expand the receptive field, realizing multi-granularity temporal modeling, thereby extracting the dynamic features of the changes in the effusion thickness and area between consecutive frames.

[0077] In some embodiments, the feature fusion module 105 includes: a spatial modeling unit for generating a spatial feature map by adaptively weighting and fusing static features; a temporal modeling unit for combining the spatial feature map with dynamic features to obtain the relationship of pericardial effusion between ultrasonic images.

[0078] In some embodiments, by separately processing static features and dynamic features, spatial modeling can refine local details, single-frame image processing does not require cross-frame calculation, reducing memory occupancy and achieving lightweight spatial modeling; and temporal modeling can capture global dynamics, only serializing relevant features to avoid the high complexity and large computational volume of full spatio-temporal dimension processing.

[0079] In some embodiments, the relationship of pericardial effusion between ultrasound images satisfies the following expression: 。

[0080] Where, represents the query matrix, characterizing the feature information that needs to be focused on currently; represents the key matrix, used to match with the query matrix to determine the weight of the focus point; represents the value matrix, containing the actual information content, and performing weighted summation according to the attention weights; represents the dimension of the key, used to scale the dot product result to prevent gradient vanishing or explosion; represents a normalization function, converting the input value into a probability distribution to ensure that the sum of all attention weights is 1; represents the attention mechanism, used to calculate the correlation between different inputs, thereby dynamically adjusting the weight of information.

[0081] In some embodiments, the relevant feature map extracted through 3D convolution operations can be input into the spatio-temporal Transformer module, and the long-term dependence relationship of the evolution of pericardial effusion between adjacent cardiac ultrasound images can be modeled through the multi-head self-attention mechanism, thereby breaking through the processing limitation of local feature relationships, modeling the global interaction between all positions and lines in space, providing a more powerful modeling ability for multi-line convolution feature fusion, and facilitating the clear understanding and reflection of complex spatio-temporal relationships.

[0082] In some embodiments, the spatio-temporal Transformer module includes a two-branch structure, namely, a spatial encoding branch and a temporal encoding branch. Among them, the spatial encoding branch can use a progressive downsampling convolutional layer to extract the effusion edge and echo intensity features in a single-frame ultrasound image; the temporal encoding branch can model the correlation between adjacent-frame ultrasound images through the multi-head self-attention mechanism, thereby capturing the dynamic change law of the effusion volume.

[0083] In some embodiments, the feature fusion module 105 further includes a dynamic prediction unit for predicting the volume change trend of pericardial effusion in the future ultrasound image sequence; among them, the predicted values of pericardial effusion in the next 10 frames satisfy the following relational expression: 。

[0084] 。

[0085] denotes a recurrent neural network for capturing long-term dependencies in sequential data; denotes the hidden state at time t, the internal state of the LSTM, which contains all the information up to the current time; denotes the cell state at time t, the core memory unit of the LSTM, which is used to store long-term dependency information; denotes the hidden state at time t-1; denotes the cell state at time t-1; denotes the fused feature, which combines the spatial and temporal feature information and serves as the input to the LSTM; denotes the output weight matrix, which is used to transform the hidden state into the final predicted value; denotes the predicted value of the effusion volume for the next 10 frames, which is calculated based on the hidden state and output weight at the current time.

[0086] In some embodiments, the dynamic prediction unit can predict the change trend of pericardial effusion volume for the next 10 frames based on the LSTM network combined with the fused feature of the current frame, i.e., the effusion segmentation mask of the current frame. This helps to predict the change trend of future effusion volume and estimate the probability of abnormal fluctuations, providing strong support for the dynamic monitoring and abnormal detection of pericardial effusion.

[0087] In some embodiments, the deployment optimization module 106 may include a lightweight modeling unit, a dynamic quantization unit, and an operator fusion optimization unit.

[0088] The lightweight modeling unit is used to train a lightweight student model according to the relationship of pericardial effusion between ultrasound images and the output of the relationship formula of the predicted value of pericardial effusion for the next 10 frames, so that the lightweight student model can achieve real-time processing of the image sequence through the dynamic quantization unit and the operator fusion optimization unit on the edge computing device.

[0089] The dynamic quantization unit can dynamically adjust the quantization parameters according to the actual distribution of the input data, thereby reducing the model size and calculation, and realizing the lightweight of the student model; the operator fusion optimization unit can combine multiple calculation operations into one composite operation, thereby reducing the number of memory accesses and calculation overhead. Through dynamic quantization and operator fusion optimization operations, the student model can achieve efficient and real-time pericardial effusion monitoring on wearable ultrasound devices.

[0090] For the embodiments of the present application, it should also be noted that, without conflict, the embodiments of the present application and the features in the embodiments can be combined with each other to obtain new embodiments.

[0091] The above is only the specific implementation manner of this application, but the protection scope of this application is not limited thereto. The protection scope of this application shall be subject to the protection scope of the claims.

Claims

1. An ultrasonic patch probe applicable to an ultrasonic-guided interventional surgical robot for ultrasonic monitoring of an object to be detected, characterized in that, It includes: A cable support assembly (10); A probe housing assembly (20); An electrical connection assembly (30), which is arranged on the cable support assembly (10); A detection assembly (40), which is arranged on the probe housing assembly (20), The electrical connection assembly (30) is arranged to be electrically connected to the detection assembly (40), and the detection assembly (40) is arranged to perform ultrasonic detection on the object to be detected, And the electrical connection assembly (30) is arranged to transmit the ultrasonic probe signal from the detection assembly (40) to the outside through the cable support assembly (10); Wherein, the cable support assembly (10) and the probe housing assembly (20) are arranged to be detachably connected.

2. The ultrasonic patch probe according to claim 1, wherein The cable support assembly (10) includes a support member (11), a cable (12) and a first connector (13), The probe housing assembly (20) includes a housing member (21) and a second connector (22), The first connector (13) is arranged to be fixedly connected to the support member (11), The cable (12) is arranged such that one end is fixed to the support member (11) and the other end is arranged to be connected to the outside; The electrical connection assembly (30) is arranged on the support member (11), The detection assembly (40) is arranged on the housing member (21), and the second connector (22) is arranged to be fixedly connected to the housing member (21), The first connector (13) and the second connector (22) are arranged to be detachably connected and mated, When the first connector (13) is connected and mated with the second connector (22), the electrical connection assembly (30) is arranged to be electrically connected to the detection assembly (40).

3. The ultrasonic patch probe according to claim 2, wherein When the first connector (13) is connected and mated with the second connector (22), a part of the support member (11) is inserted into the housing member (21) so that the electrical connection assembly (30) and the detection assembly (40) form an electrical connection; When the first connector (13) is separated from the second connector (22), the support member (11) is arranged to be able to drive the electrical connection assembly (30) to move synchronously so that the electrical connection assembly (30) is separated from the detection assembly (40), thereby releasing the electrical connection.

4. The ultrasonic patch probe according to claim 3, wherein The housing member (21) includes a first housing portion (211) and a second housing portion (212), and the first housing portion (211) and the second housing portion (212) are arranged to be integrally formed, The first housing portion (211) forms a mating space, the second housing portion (212) forms a detection space, and the mating space and the detection space are arranged to be in communication, The first housing portion (211) and the second housing portion (212) are arranged to have different inner diameters so that the first housing portion (211) forms a transition port at the intersection of the detection space and the mating space, The second connecting member (22) is disposed around the first accommodating portion (211) at the location where the transition opening is formed, and the support member (11) is configured to be partially inserted into the fitting space so that the first connecting member (13) contacts and is fixed to the second connecting member (22).

5. The ultrasonic patch probe according to claim 4, characterized in that, The electrical connection assembly (30) includes a plurality of electrical connecting members (31) and a first circuit board (32). The first circuit board (32) is disposed between the support member (11) and the plurality of electrical connecting members (31). The first circuit board (32) is configured to be fixed to the support member (11). The plurality of electrical connecting members (31) are configured to be fixedly connected to the first circuit board (32). The support member (11) forms a fitting opening, and the first connecting member (13) is configured to surround the support member (11) at the location of the fitting opening. The plurality of electrical connecting members (31) are configured to extend in the direction of the fitting opening so that the plurality of electrical connecting members (31) contact the detection assembly (40).

6. The ultrasonic patch probe according to claim 5, wherein, The detection assembly (40) includes a detection member (41) and a second circuit board (42), and the detection member (41) is configured to be fixedly connected to the second circuit board (42). The shape of the second circuit board (42) is configured to match the shape of the transition opening so as to extend out of the transition opening and abut against the plurality of electrical connecting members (31). The transition opening is configured to have the same shape as and be in communication with the fitting opening so that the first connecting member (13) and the second connecting member (22) are aligned and adhered to each other.

7. The ultrasonic patch probe according to claim 6, wherein the support member (11) includes a main body portion (111), a limiting portion (112), and an extending portion (113), and the main body portion (111), the limiting portion (112), and the extending portion (113) are configured to be integrally formed. The main body portion (111) forms an accommodating space, and the extending portion (113) is configured to be partially fixed within the accommodating space and to be able to extend out of the accommodating space. The first circuit board (32) is disposed within the accommodating space and is configured to be fixedly connected to the extending portion (113). The limiting portion (112) is configured to be fixed to the extending portion (113) and to allow the plurality of electrical connecting members (31) to pass through.

8. The ultrasonic patch probe according to claim 7, wherein the extending portion (113) is configured to cooperate with the shape of the first accommodating portion (211) so that the extending portion (113) can be partially inserted into the fitting space; the first connecting member (13) is configured to be fixed to the extending portion (113) and to be able to contact or separate from the second connecting member (22) within the fitting space.

9. The ultrasonic patch probe according to claim 7, wherein the extending portion (113) forms an extending space, and the extending space is configured to have an inner diameter smaller than the inner diameter of the accommodating space so that the extending range of the second circuit board (42) is greater than the extending range of the limiting portion (112).

10. The ultrasonic patch probe according to claim 7, wherein the limiting part (112) is provided with a plurality of limiting holes, and the distribution of the plurality of limiting holes is arranged to correspond to the distribution of the plurality of electrical connectors (31) one by one, so as to limit the movement of the plurality of electrical connectors (31) in the circumferential direction.

11. The ultrasonic patch probe according to any one of claims 6-10, wherein a plurality of contacts (421) are formed on the second circuit board (42), and the arrangement of the plurality of contacts is arranged to be adapted to the arrangement of the plurality of electrical connectors (31), so that the plurality of contacts (421) correspond to and contact the plurality of electrical connectors (31) one by one.

12. The ultrasonic patch probe according to claim 11, wherein the electrical connector (31) includes a free part (311), a fixed part (312), a connecting part (313), an adjusting part (314) and a stopping part (315), the fixed part (312) and the connecting part (313) are integrally formed and jointly form a cavity, the adjusting part (314) is arranged to connect the fixed part (312) and the stopping part (315), and is arranged to have elasticity, the stopping part (315) is arranged to connect the adjusting part (314) and the free part (311), the free part (311) abuts against the second circuit board (42) to form an electrical connection, the free part (311) receives the resistance from the electrical connection, and the resistance is transmitted to the adjusting part (314) through the stopping part (315), so that the elastic adjusting part (314) buffers the resistance.

13. The ultrasonic patch probe according to claim 12, wherein an opening is formed at one end of the cavity away from the fixed part (312), and the inner diameter of the opening is arranged to be smaller than the inner diameter of the cavity, so that the free part (311) can extend out of the cavity and the stopping part (315) is constrained in the cavity.

14. The ultrasonic patch probe according to any one of claims 6-10, wherein the second circuit board (42) is connected to the detecting part (41) through a flexible circuit board, so that the detecting part (41) forms a communication connection with the cable (12).

15. An ultrasonic imaging device applicable to an ultrasonic-guided interventional surgical robot, characterized in that, It includes the ultrasonic patch probe according to any one of claims 1-14 and an ultrasonic image processing device, the ultrasonic patch probe is arranged to be in communication connection with the ultrasonic image processing device, and the ultrasonic image processing device is arranged to be able to receive and process the cardiac ultrasonic image obtained by the ultrasonic patch probe.

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