Ultrasonic patch probe and ultrasound imaging equipment suitable for ultrasound-guided interventional surgical robots

Abstract

The embodiments of the present application relate to the field of ultrasonic diagnosis, and in particular to an ultrasonic patch probe and ultrasonic imaging equipment suitable for an ultrasound-guided interventional surgical robot. The ultrasonic patch probe realizes the formation and release of the electrical connection between the electrical connection assembly and the detection assembly by setting the cable support assembly and the probe receiving assembly into a detachable connection, so that the cable support assembly is disconnected from the body surface of the object to be detected, which is convenient for adjusting the cable position and preventing mutual interference; the probe receiving assembly remains fixed to the body surface of the object to be detected, avoiding repeated positioning of the probe, facilitating long-term monitoring of cardiac activity, and allowing the object to be detected to move freely without being restrained by the cable when cardiac ultrasound detection is not required. The ultrasonic imaging equipment connects the ultrasonic patch probe to the ultrasonic image processing device for communication, so that when cardiac ultrasound monitoring is required, the ultrasonic image processing device obtains cardiac function data in real time; when cardiac ultrasound monitoring is temporarily not required, the object to be detected can move freely.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of ultrasonic diagnosis, and in particular to an ultrasonic patch probe and ultrasonic imaging equipment suitable for an ultrasound-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] Ultrasound patch probes are small, lightweight probes that can be attached to the subject's skin for extended periods, enabling long-term ultrasound imaging monitoring of the subject. Ultrasound patch probes can be used in ICUs or for inpatients to provide extended ultrasound monitoring of organs such as the heart or muscle tissue. Summary of the Invention

[0004] A brief overview of the present application is provided 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 key or important portions of the present application, nor is it intended to limit the scope of the present application. Its purpose is simply to present certain concepts in a simplified form as a prelude to the more detailed description that will be discussed later.

[0005] One aspect of an embodiment of the present application provides an ultrasonic patch probe suitable for an ultrasound-guided interventional surgical robot, for performing ultrasonic monitoring of an object to be detected, comprising: a cable support assembly; a probe accommodating assembly; an electrical connection assembly, the electrical connection assembly being arranged in the cable support assembly; a detection assembly, the detection assembly being arranged in the probe accommodating assembly, the electrical connection assembly being arranged to be electrically connected to the detection assembly, and the detection assembly being arranged to perform ultrasonic detection of the object to be detected, and the electrical connection assembly being arranged to transmit the ultrasonic probe signal from the detection assembly to the outside through the cable support assembly; wherein the cable support assembly and the probe accommodating assembly are arranged in a detachable connection.

[0006] Another aspect of an embodiment of the present application provides an ultrasonic imaging device suitable for an ultrasound-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 embodiment of the present application provides an ultrasonic patch probe suitable for an ultrasound-guided interventional surgical robot. By arranging the cable support component and the probe accommodating component into a detachable connection, the electrical connection component arranged on the cable support component can be separated from the detection component arranged on the probe accommodating component, thereby realizing the formation and release of the electrical connection. In this way, the cable support component connected to the outside can be released from the surface of the object to be detected, which is convenient for adjusting the position of the external cable and preventing mutual interference; the probe accommodating component 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 of the probe and adjustment of the position, which is helpful for long-term monitoring of cardiac activity and also allows the object to be detected to be free from cable constraints and move freely when no cardiac ultrasound detection is required.

[0008] 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. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] To further illustrate the above and other advantages and features of the present application, the following detailed description of specific embodiments of the present application is provided in conjunction with the accompanying drawings. The accompanying drawings, together with the detailed description below, are incorporated into and form a part of this specification. Elements with the same function and structure are denoted by the same reference numerals. It should be understood that these drawings depict only typical examples of the present application and should not be construed as limiting the scope of the present application.

[0010] Figure 1 is an exploded schematic diagram of the components of the ultrasound patch probe provided in an embodiment of the present application;

[0011] Figure 2 is a cross-sectional schematic diagram of an ultrasonic patch probe provided in an embodiment of the present application;

[0012] Figure 3 is a cross-sectional schematic diagram of a cable support assembly and an electrical connection assembly provided in an embodiment of the present application;

[0013] Figure 4 Schematic diagram of the electrical connector provided by an embodiment of the present application in cooperation with the first circuit board and the second circuit board;

[0014] Figure 5 is a detailed schematic diagram of an electrical connector provided in an embodiment of the present application;

[0015] Figure 6 Schematic diagram of the cooperation between the detection assembly and the probe receiving assembly provided in an embodiment of the present application;

[0016] Figure 7 is a schematic diagram of a rectangular distribution of contacts provided by an embodiment of the present application;

[0017] Figure 8 is a schematic diagram of radially distributed contacts provided by an embodiment of the present application;

[0018] Figure 9 This is a structural block diagram of an ultrasonic image processing device provided in an embodiment of the present application.

[0019] Description of reference numerals:

[0020] 10. Cable support assembly; 11. Support member; 111. Main body; 112. Limiting member; 113. Extension member; 1131. First continuous outer wall; 1132. Second continuous outer wall; 1133. Third continuous outer wall; 12. Cable; 13. First connector;

[0021] 20. Probe accommodating assembly; 21. Accommodating member; 211. First accommodating portion; 2110. Continuous outer surface; 2111. First continuous inner wall; 2112. Second continuous inner wall; 212. Second accommodating portion; 22. Second connecting member;

[0022] 30. Electrical connection assembly; 31. Electrical connector; 311. Free portion; 312. Fixed portion; 313. Connecting portion; 314. Adjusting portion; 315. Stopping portion; 32. First circuit board; 321. Connecting hole; 322. Connecting point;

[0023] 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;

[0024] 100. Ultrasonic image processing device; 101. Acquisition module; 102. Preprocessing module; 103. Basic feature extraction module; 104. Correlation feature extraction module; 105. Feature fusion module; 106. Deployment optimization module. DETAILED DESCRIPTION

[0025] Exemplary embodiments of the present application will be described below with reference to the accompanying drawings. For the sake of clarity and conciseness, not all features of actual implementations are described in the specification. However, it should be understood that many implementation-specific decisions must be made in the process of developing any such actual implementation in order to achieve the developer's specific goals, such as meeting those constraints related to the system and business, and these constraints may vary depending on the implementation. In addition, it should be understood that although the development work may be very complex and time-consuming, it is a routine task for those skilled in the art who benefit from the content of this application.

[0026] It is also necessary to explain here that, in order to avoid obscuring the present application due to unnecessary details, the accompanying drawings only show the device structure and / or processing steps that are closely related to the solution according to the present application, while other details that are not closely related to the present application are omitted.

[0027] The disclosure below provides a plurality of different embodiments or examples for implementing the present application. In order to simplify the disclosure of the present application, the components and methods of specific examples are described below. Of course, they are merely examples and are not intended to limit the present application. In the description of the embodiments of the present application, the meaning of "plurality" is at least two, for example, two, three, etc., unless otherwise specifically defined.

[0028] At present, the cable and probe of the existing ultrasonic patch probe are usually fixedly connected in an integrated manner, and the angle of the cable cannot be adjusted relative to the probe. When a patient needs to undergo continuous monitoring multiple times in the ICU or during hospitalization, each time lasting from a few minutes to a few hours, the doctor needs to re-find the ultrasonic imaging section and re-attach the fixed probe for each monitoring, which is cumbersome and difficult to use. Moreover, during long-term monitoring, the patient's range of movement is constrained by the cable of the ultrasonic imaging device, and the range of movement is limited. When it is necessary to move within a larger range, the probe and cable can only be removed, and then the imaging section can be re-find and the fixed probe can be re-attached after the activity is completed. In addition, in addition to using the patch probe for ultrasonic monitoring, the patient usually has a relatively large number of other monitoring devices on the body, such as electrocardiogram equipment, blood oxygen monitoring equipment, etc. These devices have their own cables. Since the angle of the probe cable cannot be adjusted relative to the probe, the probe cable of the conventional ultrasonic patch probe is prone to interfere with other monitoring devices and is not convenient for adjusting the cable accordingly.

[0029] One aspect of an embodiment of the present application provides an ultrasound patch probe suitable for an ultrasound-guided interventional surgical robot, for performing ultrasound monitoring on an object to be detected. Figure 1 FIG. 1 is an exploded schematic diagram showing the components of the ultrasound patch probe provided in an embodiment of the present application. Figure 2A cross-sectional schematic diagram of an ultrasonic patch probe provided in an embodiment of the present application is shown, as shown in FIG. Figure 1 and Figure 2 As shown, the ultrasonic patch probe includes: a cable support assembly 10; a probe accommodating 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 accommodating 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 object to be detected, 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 accommodating assembly 20 are configured to be detachably connected.

[0030] The embodiment of the present application provides an ultrasonic patch probe suitable for an ultrasound-guided interventional surgical robot. By arranging the cable support assembly 10 and the probe accommodating assembly 20 into a detachable connection, the electrical connection assembly 30 arranged on the cable support assembly 10 can be separated from the detection assembly 40 arranged on the probe accommodating assembly 20, thereby realizing the formation and release of the electrical connection. In this way, the cable support assembly 10 connected to the outside can be released from the surface of the object to be detected, which is convenient for adjusting the position of the external cable and preventing mutual interference; the probe accommodating assembly 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 of the probe and adjustment of the position, which is helpful for long-term monitoring of cardiac activity and also allows the object to be detected to be free from cable constraints and move freely when no cardiac ultrasound detection is required.

[0031] In some embodiments, as Figure 2 As shown, the cable support assembly 10 includes a support member 11, a cable 12 and a first connecting member 13, and the probe accommodating assembly 20 includes a accommodating member 21 and a second connecting member 22. The first connecting member 13 is configured to be fixedly connected to the support member 11, and the cable 12 is configured to be fixed to the support member 11 at one end and to be connected to the outside at the other end; the electrical connection assembly 30 is arranged on the support member 11, the detection assembly 40 is arranged on the accommodating member 21, the second connecting member 22 is arranged to be fixedly connected to the accommodating member 21, the first connecting member 13 and the second connecting member 22 are arranged to be detachably connected and matched, and when the first connecting member 13 and the second connecting member 22 are connected and matched, the electrical connection assembly 30 is configured to be electrically connected to the detection assembly 40.

[0032] In some embodiments, the support member 11 and the accommodating member 21 are detachably connected through the disassembly cooperation between the first connecting member 13 and the second connecting member 22, thereby driving the electrical connection component 30 and the detection component 40 to move closer to or away from each other respectively. The cable 12 can be removed from the connection relationship with the object to be detected, and only the probe accommodating member 20 and the detection component 40 are kept fixed to the object to be detected, so that the object to be detected can be freed from the restraint of the cable 12 when ultrasonic monitoring is not required, and can move freely. When ultrasonic monitoring is required again, there is no need to reposition the position and angle of the detection component 40. The support member 11 and the accommodating member 21 can be re-fixed through the first connecting member 13 and the second connecting member 22 to realize the electrical connection between the electrical connection component 30 and the detection component 40 again.

[0033] 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 the external processing equipment for real-time processing of the acquired ultrasonic signals.

[0034] In some embodiments, the first connecting member 13 and the second connecting member 22 can be set to materials that attract each other (for example, magnetic materials); the first connecting member 13 and the second connecting member 22 may not be continuous single components, but may include multiple discrete components (for example, multiple one-to-one corresponding magnetic points), which can ensure mutual attraction and fixation.

[0035] In some embodiments, the first connecting member 13 and the second connecting member 22 can be configured such that one of them is a hook and the other is a slot, and the hook and the slot cooperate with each other to achieve detachable connection with each other.

[0036] In some embodiments, as Figure 2 As shown, when the first connecting member 13 is connected to the second connecting member 22, a portion of the support member 11 is inserted into the accommodating member 21 to form an electrical connection between the electrical connection component 30 and the detection component 40; when the first connecting member 13 is separated from the second connecting member 22, the support member 11 is configured to drive the electrical connection component 30 to move synchronously to separate the electrical connection component 30 from the detection component 40, thereby releasing the electrical connection.

[0037] Figure 3 The cross-sectional view of the cable support assembly and the electrical connection assembly provided by the embodiment of the present application is shown. In some embodiments, such as Figure 1 As shown, the container 21 can be set as a through structure, and the through structure forms two openings, such as Figure 2 and Figure 3As shown, the support member 11 can be set to a structure with a T-shaped vertical cross-section, and the vertical part of the T-shaped structure can be partially inserted into one of the openings of the accommodating member 21 to form a partially interlocking structure, thereby playing a guiding and limiting role when the support member 11 and the accommodating member 21 are combined and fixed, preventing mutual misalignment caused by external forces after combination.

[0038] Figure 6 A schematic diagram showing the cooperation of the detection assembly and the probe receiving assembly provided by the embodiment of the present application is shown. In some embodiments, as Figure 6 As shown, the accommodating member 21 includes a first accommodating portion 211 and a second accommodating portion 212. The first accommodating portion 211 and the second accommodating portion 212 are arranged to be integrally formed. The first accommodating portion 211 forms a matching space, and the second accommodating portion 212 forms a detection space. The matching space and the detection space are arranged to be connected. The first accommodating portion 211 and the second accommodating portion 212 are arranged to have different inner diameters so that the first accommodating portion 211 forms a transition port at the intersection of the detection space and the matching space. The second connecting member 22 surrounds the first accommodating portion 211 arranged at the transition port. Figure 2 As shown, the support member 11 is configured to be partially inserted into the matching space so that the first connecting member 13 and the second connecting member 22 are in contact and fixed.

[0039] In some embodiments, as Figure 6 As shown, the first accommodating portion 211 is configured as a through structure, and the through structure forms two opposite openings. The opening close to the detection space is a transition port, and the transition port is configured to allow the second circuit board 42 to pass through and extend into the matching space, so that the detection component 40 can achieve unobstructed contact with multiple electrical connectors 31 and maintain stable electrical connection; the second accommodating portion 212 is configured to extend in a direction away from the matching space and is formed with a detection port, and the detection component 40 can be configured to be bonded and fixed in the detection space.

[0040] In some embodiments, the electrical connection assembly 30 includes multiple electrical connectors 31 and a first circuit board 32. The first circuit board 32 is arranged between the support member 11 and the multiple electrical connectors 31. The first circuit board 32 is arranged to be fixed to the support member 11. The multiple electrical connectors 31 are arranged to be fixedly connected to the first circuit board 32. The support member 11 is formed with a mating opening. The first connector 13 is arranged to surround the support member 11 at the mating opening. The multiple electrical connectors 31 are arranged to extend toward the mating opening so that the multiple electrical connectors 31 are in contact with the detection assembly 40.

[0041] Figure 4 A schematic diagram showing the cooperation between the electrical connector provided by the embodiment of the present application and the first circuit board and the second circuit board is shown. In some embodiments, as Figure 4As shown, the first circuit board 32 can be set to a rectangle, and four connection holes 321 are formed at the four corners of the first circuit board 32 respectively. 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, and the plurality of connection points 322 can be set to be welded, plugged or bonded to the first circuit board 32, and are set to correspond one-to-one with the plurality of electrical connectors 31, so as to fix the plurality of electrical connectors 31 on the first circuit board and realize electrical connection; the cable 12 can be fixed at the center position of the first circuit board 32 and connected to the outside.

[0042] In some embodiments, the detection assembly 40 includes a detection member 41 and a second circuit board 42. 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 port so as to extend the transition port to abut against multiple electrical connectors 31. The transition port is configured to be consistent with the shape of the mating port and be connected so that the first connector 13 and the second connector 22 are aligned and fit together.

[0043] In some embodiments, the plurality of electrical connectors 31 are configured not to extend out of the mating opening, and the second circuit board 42 is configured to extend out of the transition opening, so that when the support member 11 is mated and fixed with the first accommodating portion 211, the plurality of electrical connectors 31 can just abut against the second circuit board 42 to form an electrical connection, thereby maintaining the electrical connection stable and avoiding damage to the plurality of electrical connectors 31.

[0044] In some embodiments, the side of the detection member 41 close to the detection port is an imaging surface, which transmits ultrasonic waves to the object to be detected. The imaging surface can be set to be flush with the detection port, concave relative to the detection port, or convex relative to the detection port.

[0045] In some embodiments, as Figure 2 As shown, the detection opening is configured to have an inner diameter smaller than the inner diameter of the detection space, so as to act as a stop for the detection member 41 and prevent the detection member 41 from falling out of the detection space; an adhesive coupling material layer 44 can be provided on the imaging surface. The adhesive coupling material layer 44 has both adhesiveness and acoustic coupling capability, and is used to adhere the detection member 41 to the skin of the object to be detected, while also being able to acoustically couple the ultrasonic waves emitted by the detection member 41. This can not only increase the viscosity of the detection member 41, allowing the detection member 41 to be more firmly bonded to the object to be detected, but also play an acoustic coupling role, reducing or even eliminating the problem of loss of liquid coupling fluid used when the detection member 41 is fixed on the detection object for a long time for ultrasonic monitoring, thereby affecting the imaging quality. The adhesive coupling material layer 44 can include materials such as hydrogel, silicone gel, or silicone gel.

[0046] In some embodiments, the support member 11 includes a main body 111, a limiting portion 112 and an extension portion 113. The main body 111, the limiting portion 112 and the extension portion 113 are arranged to be integrally formed. The main body 111 forms a accommodating space. The extension portion 113 is arranged to be partially fixed in the accommodating space and is arranged to be able to extend out of the accommodating space. The first circuit board 32 is arranged in the accommodating space and is arranged to be fixedly connected to the extension portion 113. The limiting portion 112 is arranged to be fixed to the extension portion 113 and is arranged to allow multiple electrical connectors 31 to pass through.

[0047] In some embodiments, the first circuit board 32 is fixedly connected to the extension portion 113 through a plurality of connection holes 321, the limiting portion 112 is configured to be fixed to the extension portion 113, and the extension range of the limiting portion 112 in the extension direction of the electrical connector 31 is smaller than the length of the electrical connector 31, so that the electrical connector 31 can reserve a portion for contact with the second circuit board 42.

[0048] In some embodiments, the extension portion 113 is configured to cooperate with the shape of the first accommodating 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 in the fitting space.

[0049] In some embodiments, as Figure 3 As 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. The first continuous outer wall 1131 and the second continuous outer wall 1132 are each formed by connecting 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 matching space; Figure 3 As shown, the first continuous outer wall 1131 is arranged to be perpendicular to the plane where the third continuous outer wall 1133 is located, the first connecting member 13 is arranged to be fixed to and cover the third continuous outer wall 1133, and the second continuous outer wall 1132 is arranged between the first continuous outer wall 1131 and the third continuous outer wall 1133, and is arranged to be inclined at a predetermined angle.

[0050] In some embodiments, as Figure 6 As shown, the first accommodating 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. The first continuous inner wall 2111 and the second continuous inner wall 2112 are both formed by connecting 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 matching space; as shown Figure 2As shown, the first continuous inner wall 2111 is arranged to be perpendicular to the plane where the third continuous inner wall is located, the second connecting member 22 is arranged to cover or embed the third continuous inner wall, and the second continuous inner wall 2112 is arranged between the first continuous inner wall 2111 and the third continuous inner wall, and is arranged to be inclined at a predetermined angle so that the second continuous inner wall 2112 is parallel to the second continuous outer wall 1132. This arrangement allows when the extension portion 113 is partially inserted into the fitting space, since the first connecting member 13 has a predetermined thickness, the second continuous outer wall 1132 of the extension portion 113 can not contact the second continuous inner wall 2112, thereby leaving a circle of gap to avoid the insertion of the support member 11 causing a vacuum in the fitting space, thereby facilitating the separation of the support member 11 from the first accommodating portion 211.

[0051] In some embodiments, the third continuous inner wall is configured to have the same shape and the same size as the third continuous outer wall 1133 , so that the first connector 13 matches the second connector 22 .

[0052] In some embodiments, the continuous outer surface 2110 can be set to be perpendicular to the first continuous inner wall 2111, so as to cooperate with the right-angle turn of the T-shaped structure of the support member 11, thereby limiting the movement of the support member 11; the continuous outer surface 2110 can be set to a non-angular surface to avoid sharp edges scratching the operator or the object to be detected.

[0053] In some embodiments, the extension portion 113 is formed with an extension space, and the inner diameter of the extension space is set to be smaller than the inner diameter of the accommodating space, so that the extension range of the second circuit board 42 is larger than the extension range of the limiting portion 112 .

[0054] In some embodiments, the extension range of the first circuit board 32 is greater than the extension range of the limiting portion 112, which enables the first circuit board 32 to reserve space for fixing with the extension portion 113, thereby further fixing the positions of multiple electrical connectors 31, preventing external forces from causing displacement of the electrical connectors 31 during the disassembly or mating process of the support member 11 and the accommodating member 21, and ensuring stable electrical connection during each mating.

[0055] In some embodiments, the limiting portion 112 is configured to form a plurality of limiting holes, and the distribution of the plurality of limiting holes is configured to correspond one-to-one with the distribution of the plurality of electrical connectors 31 to limit the movement of the plurality of electrical connectors 31 in the circumferential direction.

[0056] In some embodiments, the limiting portion 112 is used to fill the gaps between the multiple electrical connectors 31 to keep the multiple electrical connectors 31 relatively fixed, thereby ensuring a one-to-one correspondence with the contacts 421 each time they are mated, thereby ensuring a stable electrical connection.

[0057] In some embodiments, a plurality of contacts 421 are formed on the second circuit board 42 , and an arrangement of the plurality of contacts is configured to adapt to an 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.

[0058] Figure 7 Schematic diagram showing that the contacts provided by the embodiment of the present application are distributed in a rectangular shape. In some embodiments, such as Figure 7 As shown, the second circuit board 42 can be configured to be rectangular, with multiple contacts 421 formed thereon evenly distributed in a rectangular shape, and multiple electrical connectors 31 correspondingly evenly distributed in a rectangular shape, thereby achieving a one-to-one correspondence between the multiple electrical connectors 31 and the multiple contacts 421, thereby establishing an electrical connection between the first circuit board 32 and the second circuit board 42; Figure 8 A schematic diagram showing that the contacts provided by the embodiment of the present application are radially distributed, as shown in FIG. Figure 8 As shown, the second circuit board 42 can be set to a circular shape, and the multiple contacts 421 formed thereon are arranged in a radial distribution, and the multiple electrical connectors 31 are correspondingly arranged in a radial distribution. The multiple contacts 421 can be arranged into multiple concentric rings, and the multiple contacts are located on multiple diameters of the concentric rings, for example Figure 8 In the embodiment, a predetermined angle is formed between the adjacent first diameters 4210 and second diameters 4211, and the multiple predetermined angles are equal in size, so that when the multiple electrical connectors 31 that are also radially distributed rotate as a whole, they can still maintain a one-to-one correspondence with the multiple contacts 421 by controlling the rotation angle, so that the electrical connector 31 can drive the cable 12 to rotate during the rotation process, thereby changing the direction of the cable 12, improving the flexibility of adjustment, and avoiding interference between the cable 12 and other equipment lines.

[0059] In some embodiments, the contact 421 may be configured as a groove or an electrode.

[0060] Figure 5 Detailed schematic diagram of the electrical connector provided by the embodiment of the present application is shown. In some embodiments, such as Figure 5 As shown, the electrical connector 31 includes a free portion 311, a fixed portion 312, a connecting portion 313, an adjusting portion 314 and a stop portion 315. The fixed portion 312 and the connecting portion 313 are integrally formed and together form a cavity. The adjusting portion 314 is configured to connect the fixed portion 312 and the stop portion 315, and is configured to have elasticity. The stop portion 315 is configured 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 is subjected to resistance from the electrical connection, and the resistance is transmitted to the adjusting portion 314 via the stop portion 315, so that the adjusting portion 314 with elastic force buffers the resistance.

[0061] In some embodiments, the fixed portion 312 is configured to be fixedly connected to the connection point 322 on the first circuit board 32, and the connecting portion 313 is configured to extend in a direction away from the connection point 322 and form a cavity. The adjusting portion 314 can be configured to abut against the fixed portion 312 and the stop portion 315. The extension length of the free portion 311 is configured to be able to extend out of the cavity when the adjusting portion 314 is in a natural state, so that the free portion 311 can achieve unobstructed abutment with the contact 421.

[0062] In some embodiments, an opening is formed at one end of the cavity away from the fixing 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 constrain the stop portion 315 in the cavity.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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 9 As shown, the ultrasound image processing device 100 includes: an acquisition module 101 for continuously acquiring cardiac ultrasound images of a patient at multiple time points; a preprocessing module 102 for segmenting the cardiac ultrasound images and obtaining segmentation results; a basic feature extraction module 103 for extracting static features from the segmentation results; a correlation feature extraction module 104 for extracting dynamic features from the segmentation results; a feature fusion module 105 for combining static and dynamic features and, based on the combination, determining the volume change trend of pericardial effusion; and a deployment optimization module 106 for making the combination lightweight to enable real-time processing of ultrasound images. The cardiac ultrasound images acquired at multiple time points contain both spatial and temporal information. By extracting static and dynamic features of the ultrasound images separately, such separate processing can more effectively capture information in these two different states, thereby avoiding information interference between different modules and improving the targetedness of feature extraction. Simultaneously, it avoids processing information in all dimensions simultaneously, saving computing resources.

[0069] In some embodiments, the preprocessing module 102 is configured to receive a cardiac ultrasound image and to output a segmentation result of the ultrasound image, the segmentation result including a binary mask of the area where the pericardial effusion is located in the cardiac ultrasound image and a sequence of predicted values ​​of the pericardial effusion volume in the cardiac ultrasound image.

[0070] In some embodiments, the cardiac ultrasound image and the segmentation result satisfy the following relationship:

[0071] .

[0072] Where T represents the number of time points; t represents the time period number; Represents the features of the cardiac ultrasound images corresponding to T time periods, which include texture, edge, and morphological feature information; Model represents the relationship between them; It represents the pixel-level segmentation result of the pericardial effusion area at time t, and the output result is a binary mask; Represents the sequence of predicted pericardial effusion volume values ​​from time period t+1 to time period t+10, in mL, which is used to dynamically monitor the growth trend of effusion.

[0073] In some embodiments, the output result of the pre-processing module 102 is the segmented pericardial effusion ultrasound image and the predicted sequence value of the pericardial effusion volume, so as to facilitate the subsequent pericardial effusion region analysis and pericardial effusion volume prediction.

[0074] In some embodiments, the basic feature extraction module 103 includes: a first basic feature extraction unit, used to extract color and edge features of the cardiac ultrasound image; a second basic feature extraction unit, used to extract texture features of the cardiac ultrasound image; a third basic feature extraction unit, used to extract morphological features of the cardiac ultrasound image, and the first basic feature extraction unit, the second basic feature extraction unit and the third basic feature extraction unit are set in parallel.

[0075] In some embodiments, multiple parallel extraction units are set up to extract static features of cardiac ultrasound images, so that the features extracted by each unit are complementary, which facilitates feature splicing and outputs a consistent and comprehensive feature map.

[0076] In some embodiments, the first basic feature extraction unit includes a pooling layer and two dilated convolution layers to enhance the grayscale distribution contrast and edge features of the pericardial effusion area. The edge feature extraction satisfies the following relationship:

[0077] .

[0078] in, represents the raw pixel matrix of the input cardiac ultrasound image; represents the maximum pooling operation to reduce the resolution of cardiac ultrasound images and thus enhance edge saliency; represents a dilation rate of 2, which expands the receptive field to capture long-distance edge features; and Represents the convolution kernel weight matrix, which is used to extract edge features in different directions; Represents the output edge feature map, which characterizes the grayscale difference boundary between pericardial effusion and surrounding tissue.

[0079] In some embodiments, setting a pooling layer can retain the most obvious color and edge features while reducing the size of the feature map, reducing the amount of calculation and speeding up subsequent processing; setting two layers of hole convolution layers can avoid information loss caused by pooling and capture a wider range of context information.

[0080] 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 the pericardial effusion. The extraction of texture features satisfies the following relationship:

[0081] .

[0082] .

[0083] in, The feature map representing the output of the third convolution layer represents the local texture details of the pericardial effusion area; Represents global average pooling, compressing the feature map into a channel description vector; Represents the weight of the fully connected layer and generates the channel attention weight; Represents the Sigmoid activation function, which maps the weights to the [0,1] interval; Represents the channel attention weight, quantifying the importance of different texture feature channels; Represents the weighted texture feature map, which characterizes the response of the heterogeneous area.

[0084] In some embodiments, three convolutional layers enable layer-by-layer understanding of images, from simple to complex, to gradually extract multi-level features; a single channel attention layer enables intelligent feature screening, highlighting key features. This combination balances the depth of the convolutional layers with the location of attention, enabling understanding of complex patterns while avoiding computational overhead and making attention judgments more accurate.

[0085] In some embodiments, the third basic feature extraction unit includes four convolutional layers and a dynamic receptive field adjustment module. The convolution kernel size is gradually reduced to capture the global geometric morphology of the pericardial effusion area. The morphological feature extraction satisfies the following relationship:

[0086] .

[0087] .

[0088] in, The feature map representing the output of the fourth convolution layer represents the geometric shape information of the effusion area; Represents the dynamic convolution kernel weight, which is used to calculate the feature point offset; Represents the spatial offset of the feature point, and adjusts the receptive field to adapt to the changes in the effusion morphology; and Indicates the initial feature point position and adjacent point coordinates; Represents the learnable weight coefficient, which controls the contribution of different positions to the morphological features; represents the raw pixel matrix of the input cardiac ultrasound image; Indicates 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 represents the number of feature points, which is used to distinguish different feature points in the set; The output morphological feature map represents the global contour and size variation of the pericardial effusion area.

[0089] In some embodiments, four convolutional layers enable progressive analysis from global to local perspectives, while a dynamic receptive field adjustment module adapts to objects of varying sizes. This combination of hierarchical feature extraction and adaptive perception not only optimizes computational efficiency, making the feature extraction process suitable for on-device deployment, but also enhances the model's robustness to complex scenarios and improves the accuracy and stability of real-time inference.

[0090] In some embodiments, the extraction of associated features satisfies the following relationship:

[0091] .

[0092] in, Represents the associated feature map extracted by the 3D convolution operation, which contains dynamic information on the time series; Represents a three-dimensional convolution operation that can process information in both spatial and temporal dimensions simultaneously; Represents the feature map sequence from tk to t time, 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. The weight performs dot product operation with the input feature map during the convolution process to extract related features.

[0093] In some embodiments, the correlation feature extraction module 104 may include an edge-texture correlation feature extraction unit, a spatial correlation feature extraction unit, and a temporal correlation feature extraction unit.

[0094] The spatial correlation feature extraction unit can include two convolution layers and one spatial attention layer, which are used to model the edge continuity of the effusion area, where the convolution kernel size can be set to 1×1; the edge-texture correlation feature extraction unit can include 0 pooling layers and 3 cross-channel convolution layers. By completely discarding the pooling layer, the spatial information loss caused by downsampling is completely avoided, the original resolution of the feature map is maintained, and cross-channel feature interaction is realized at the same time. The output of the spatial correlation feature extraction unit is integrated to achieve modeling of the edge and texture of the effusion area; the temporal correlation feature extraction unit can be set to use 3, 4, and 5 temporal convolution layers for 3D convolution respectively, which can capture the high-frequency changes between consecutive frames and expand the receptive field, realize multi-granularity temporal modeling, and thus extract the dynamic features of the effusion thickness and area changes between consecutive frames.

[0095] In some embodiments, the feature fusion module 105 includes: a spatial modeling unit for generating a spatial feature map by fusing static features through adaptive weights; and a temporal modeling unit for combining the spatial feature map with dynamic features to obtain the relationship of pericardial effusion between ultrasound images.

[0096] In some embodiments, by processing static features and dynamic features separately, spatial modeling can refine local details, single-frame image processing does not require cross-frame calculations, reducing memory usage and achieving lightweight spatial modeling; and enabling temporal modeling to capture global dynamics, only serializing related features, avoiding the high complexity and large amount of computation required for processing all time and space dimensions.

[0097] In some embodiments, the relationship between the ultrasound images of the pericardial effusion satisfies the following expression:

[0098] .

[0099] in, Represents the query matrix, which represents the feature information that needs to be paid attention to at present; Represents the key matrix, which is used to match the query matrix and determine the weight of the focus; Represents the value matrix, which contains the actual information content and is weighted summed according to the attention weight; Indicates the dimension of the key, which is used to scale the dot product result to prevent the gradient from disappearing or exploding; represents a normalization function that converts the input value into a probability distribution to ensure that the sum of all attention weights is 1; Represents the attention mechanism, which is used to calculate the correlation between different inputs and dynamically adjust the weight of information.

[0100] In some embodiments, the correlation feature map extracted by the 3D convolution operation can be input into the spatiotemporal Transformer module, and the long-term dependency 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 limitations of local feature relationships and modeling the global interactions between all positions and lines in space, providing more powerful modeling capabilities for multi-line convolution feature fusion, so as to clearly understand and reflect complex spatiotemporal relationships.

[0101] In some embodiments, the spatiotemporal Transformer module comprises a dual-branch architecture: a spatial encoding branch and a temporal encoding branch. The spatial encoding branch employs progressively downsampling convolutional layers to extract effusion edges and echo intensity features from single-frame ultrasound images. The temporal encoding branch employs a multi-head self-attention mechanism to model the correlation between adjacent ultrasound image frames, thereby capturing the dynamic changes in effusion volume.

[0102] In some embodiments, the feature fusion module 105 further includes a dynamic prediction unit for predicting the volume change trend of pericardial effusion in future ultrasound image sequences; wherein the predicted values ​​of pericardial effusion in the next 10 frames satisfy the following relationship:

[0103] .

[0104] .

[0105] Represents a recurrent neural network, which is used to capture long-term dependencies in sequential data; Represents the hidden state at time t, the internal state of LSTM, which contains all the information up to the current moment; Represents the cell state at time t, the core memory unit of LSTM, used to store long-term dependency information; represents the hidden state at time t-1; represents the cell state at time t-1; Represents fusion features, combining information of spatial and temporal features as input to LSTM; represents the output weight matrix, which is used to transform the hidden state into the final predicted value; Represents the predicted value of the effusion volume for the next 10 frames, which is calculated based on the hidden state and output weights at the current moment.

[0106] In some embodiments, the dynamic prediction unit can predict the pericardial effusion volume trend for the next 10 frames based on the LSTM network and the fused features of the current frame, namely the effusion segmentation mask of the current frame. This helps predict future effusion volume trends and estimate the probability of abnormal fluctuations, providing strong support for dynamic monitoring and anomaly detection of pericardial effusion.

[0107] In some embodiments, the deployment optimization module 106 may include a lightweight modeling unit, a dynamic quantization unit, and an operator fusion optimization unit.

[0108] The lightweight modeling unit is used to train a lightweight student model based on the relationship between pericardial effusion between ultrasound images and the output of the relationship between the predicted values ​​of pericardial effusion in the next 10 frames, so that the lightweight student model can realize real-time processing of image sequences on the edge computing device through the dynamic quantization unit and the operator fusion optimization unit.

[0109] The dynamic quantization unit dynamically adjusts quantization parameters based on the actual distribution of input data, reducing model size and computation, thereby achieving lightweight student models. The operator fusion optimization unit combines multiple computational operations into a single composite operation, reducing memory accesses and computational overhead. Through dynamic quantization and operator fusion optimization, the student model can achieve efficient, real-time pericardial effusion monitoring on wearable ultrasound devices.

[0110] Regarding the embodiments of the present application, it should also be noted that, in the absence of conflict, the embodiments of the present application and the features therein can be combined with each other to obtain new embodiments.

[0111] The above are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. The protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. An ultrasonic patch probe suitable for an ultrasound-guided interventional surgical robot, used for ultrasonic monitoring of an object to be detected, characterized in that: It includes: a cable support assembly (10); a probe receiving assembly (20); an electrical connection assembly (30), the electrical connection assembly (30) being arranged on the cable support assembly (10); A detection assembly (40), wherein the detection assembly (40) is arranged on the probe receiving assembly (20), The electrical connection component (30) is configured to be electrically connected to the detection component (40), and the detection component (40) is configured to perform ultrasonic detection on the object to be detected. 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 accommodating assembly (20) are arranged in a detachable connection; The cable support assembly (10) comprises a support member (11), a cable (12) and a first connecting member (13); the probe accommodating assembly (20) comprises a accommodating member (21) and a second connecting member (22); The first connecting member (13) is configured to be fixedly connected to the supporting member (11), The cable (12) is configured such that one end is fixed to the support member (11), and the other end is configured 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 accommodating member (21), and the second connecting member (22) is arranged to be fixedly connected to the accommodating member (21). The first connecting member (13) and the second connecting member (22) are configured to be detachably connected. When the first connecting member (13) is connected and matched with the second connecting member (22), a portion of the supporting member (11) is inserted into the accommodating member (21), so that the electrical connection component (30) and the detection component (40) are electrically connected; When the first connecting member (13) is separated from the second connecting member (22), the supporting member (11) is configured to drive the electrical connection assembly (30) to move synchronously, so as to separate the electrical connection assembly (30) from the detection assembly (40), thereby releasing the electrical connection.

2. The ultrasonic patch probe according to claim 1, characterized in that The accommodating member (21) comprises a first accommodating portion (211) and a second accommodating portion (212), wherein the first accommodating portion (211) and the second accommodating portion (212) are integrally formed. The first accommodating portion (211) forms a matching space, and the second accommodating portion (212) forms a detection space. The matching space and the detection space are arranged to be in communication. The first accommodating portion (211) and the second accommodating portion (212) are configured to have different inner diameters, so that the first accommodating portion (211) forms a transition opening at the intersection of the detection space and the matching space. The second connecting member (22) surrounds the first accommodating portion (211) formed at the transition port, and the supporting member (11) is configured to be partially inserted into the matching space so that the first connecting member (13) and the second connecting member (22) are in contact and fixed.

3. The ultrasonic patch probe according to claim 2, characterized in that: The electrical connection assembly (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 configured to be fixed to the support member (11), The plurality of electrical connectors (31) are configured to be fixedly connected to the first circuit board (32), The support member (11) is formed with a fitting opening, and the first connecting member (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 mating opening so that the plurality of electrical connectors (31) are in contact with the detection assembly (40).

4. The ultrasonic patch probe according to claim 3, characterized in that: The detection assembly (40) comprises a detection member (41) and a second circuit board (42), wherein 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 connectors (31). The transition opening is configured to be consistent in shape with the matching opening and to be in communication with each other, so that the first connecting member (13) and the second connecting member (22) are aligned and fitted.

5. The ultrasonic patch probe according to claim 4, characterized in that: The support member (11) comprises 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 (111) is formed with a receiving space, and the extension portion (113) is configured to be partially fixed in the receiving space and configured to be able to extend out of the receiving space. The first circuit board (32) is arranged in the accommodating space and is arranged to be fixedly connected to the extension portion (113). The limiting portion (112) is configured to be fixed to the extending portion (113) and is configured to allow the plurality of electrical connectors (31) to pass through.

6. The ultrasonic patch probe according to claim 5, characterized in that: 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 matching 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) in the matching space.

7. The ultrasonic patch probe according to claim 5, characterized in that: The extension portion (113) forms an extension space, and the extension space is configured to have an inner diameter 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 portion (112).

8. The ultrasonic patch probe according to claim 5, characterized in that: The limiting portion (112) is configured to be formed with a plurality of limiting holes, and the distribution of the plurality of limiting holes is configured to correspond one-to-one with the distribution of the plurality of electrical connectors (31) so as to limit the movement of the plurality of electrical connectors (31) in the circumferential direction.

9. The ultrasonic patch probe according to any one of claims 4 to 8, characterized in that: A plurality of contacts (421) are formed on the second circuit board (42), and the arrangement of the plurality of contacts is configured to be compatible with 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.

10. The ultrasonic patch probe according to claim 9, characterized in that: The electrical connector (31) includes a free portion (311), a fixed portion (312), a connecting portion (313), an adjusting portion (314) and a stopper (315). The fixing portion (312) and the connecting portion (313) are integrally formed and together form a cavity. The adjusting portion (314) is configured to connect the fixing portion (312) and the stopping portion (315), and is configured to have elasticity. The stopper portion (315) is configured to connect the regulating portion (314) and the free portion (311). The free portion (311) abuts against the second circuit board (42) to form an electrical connection, and the free portion (311) is subjected to resistance from the electrical connection, and the resistance is transmitted to the regulating portion (314) via the stop portion (315), so that the regulating portion (314) with elastic force buffers the resistance.

11. The ultrasonic patch probe according to claim 10, characterized in that: An opening is formed at one end of the cavity away from the fixing 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 constrain the stop portion (315) within the cavity.

12. The ultrasonic patch probe according to any one of claims 4 to 8, characterized in that: The second circuit board (42) is connected to the detection member (41) via a flexible circuit board, so that the detection member (41) and the cable (12) form a communication connection.

13. An ultrasonic imaging device suitable for an ultrasound-guided interventional surgical robot, characterized in that: It includes the ultrasonic patch probe according to any one of claims 1 to 12 and an ultrasonic image processing device, wherein 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 receive and process cardiac ultrasonic images acquired by the ultrasonic patch probe.

Images