Ultrasonic probe positioning method and system and ultrasonic probe

Abstract

The invention discloses an ultrasonic probe positioning method and system and an ultrasonic probe, and belongs to the technical field of medical equipment and space positioning. According to the invention, the gyroscope and the laser sensor are integrated on the ultrasonic probe, and the coordinates of the ultrasonic probe in the space are calculated through the measured values of the gyroscope and the laser sensor, so that the probe has a space positioning capability, and inaccurate space positioning caused by dependence on the experience of an operator and manual adjustment is avoided; the accuracy and the stability of the ultrasonic probe are improved, and the use is convenient.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical equipment and spatial positioning, and particularly relates to an ultrasonic probe positioning method, system and ultrasonic probe. BACKGROUND

[0002] In the existing medical imaging technology, ultrasonic imaging is a commonly used diagnostic method, which obtains the image of the internal structure of the human body by using an ultrasonic probe to emit and receive ultrasonic waves. Although the ultrasonic imaging technology has the advantages of non-invasiveness, real-time, relatively low cost and the like, it still has limitations in spatial positioning. The position and direction of the ultrasonic probe usually depend on the experience and manual adjustment of the operator, which may lead to inaccurate spatial positioning of the image data, and thus affect the accuracy and stability of the ultrasonic probe. SUMMARY

[0003] In order to solve the problems of the prior art, the embodiments of the present application provide an ultrasonic probe positioning method, system and ultrasonic probe, which comprise:

[0004] In one aspect, an ultrasonic probe positioning method is provided, which is applied to an ultrasonic probe positioning system comprising at least three laser sensors and a gyroscope, wherein the three laser sensors are perpendicular to each other, and the method comprises:

[0005] calculating an angle value of the ultrasonic probe by the gyroscope;

[0006] obtaining distance values measured by the three laser sensors respectively;

[0007] calculating coordinates of the ultrasonic probe according to the distance values and the angle value;

[0008] The method further comprises:

[0009] predicting an angle error according to the angle value in a trajectory period;

[0010] predicting a distance error according to the distance value;

[0011] generating a coordinate correction value according to the angle error and the distance error;

[0012] correcting the coordinates according to the coordinate correction value.

[0013] Optionally, the calculating the angle value of the ultrasonic probe by the gyroscope comprises:

[0014] establishing a spatial coordinate system by the three laser sensors;

[0015] calculating angles θ of laser emission directions of the three laser sensors respectively by the gyroscopex θ y and θ z .

[0016] Optionally, the obtaining the distance values respectively measured by the three laser sensors comprises:

[0017] according to the size of the room where the ultrasound probe is located;

[0018] obtaining measurement values respectively corresponding to the three laser sensors;

[0019] obtaining the distance values OA, OB and OC according to the size and the measurement values.

[0020] Optionally, the calculating the coordinates of the ultrasound probe according to the distance values and the angle values comprises:

[0021] obtaining correction values of the system and the ultrasound probe;

[0022] calculating the coordinates according to the correction values, the angle and the distance values.

[0023] Optionally, the method further comprises:

[0024] predicting the trajectory period according to the measurement values of the gyroscope.

[0025] Optionally, the predicting the angle error according to the angle values comprises:

[0026] constructing a prediction model through a neural network;

[0027] predicting the angle error according to the angle and the prediction model; or

[0028] predicting the angle error according to the angle and the prediction model after the trajectory period ends.

[0029] Optionally, the generating the coordinate correction values according to the angle error and the distance error comprises:

[0030] calculating a coordinate correction angle according to the angle error;

[0031] calculating a coordinate correction distance according to the distance error;

[0032] setting the coordinate correction angle and the coordinate correction distance as the coordinate correction values.

[0033] In another aspect, an ultrasound probe positioning system is also provided, the system comprising a processing device, an ultrasound probe, three laser sensors and a gyroscope, wherein:

[0034] The gyroscope is configured to calculate an angle value of the ultrasound probe.

[0035] The three laser sensors are respectively configured to measure distance values.

[0036] The processing device is configured to:

[0037] According to the distance values and the angle value, calculate coordinates of the ultrasound probe.

[0038] The processing device is further configured to:

[0039] According to the angle value, predict an angle error in a trajectory period.

[0040] According to the distance values, predict a distance error.

[0041] According to the angle error and the distance error, generate a coordinate correction value.

[0042] According to the coordinate correction value, correct the coordinates.

[0043] Optionally, the processing device is specifically configured to:

[0044] Establish a space coordinate system through the three laser sensors.

[0045] Calculate angles θ x , θ y and θ z of laser emission directions of the three laser sensors through the gyroscope.

[0046] According to the size of a room in which the ultrasound probe is located.

[0047] Obtain three measurement values respectively corresponding to the three laser sensors.

[0048] According to the size and the measurement values, obtain the distance values OA, OB and OC.

[0049] In another aspect, an ultrasound probe is also provided, which comprises:

[0050] A probe body, a data transmission module, a gyroscope and three laser sensors.

[0051] The gyroscope is configured to calculate an angle value of the ultrasound probe.

[0052] The three laser sensors are respectively configured to measure distance values.

[0053] The data transmission module is configured to transmit the angle value and the distance value to a processing device, so that the processing device calculates coordinates of the ultrasonic probe according to the distance value and the angle value, predicts an angle error according to the angle value in a track period, predicts a distance error according to the distance value, generates a coordinate correction value according to the angle error and the distance error, and corrects the coordinates according to the coordinate correction value.

[0054] The embodiment of the present application has the following beneficial effects:

[0055] By integrating the gyroscope and the laser sensor in the ultrasonic probe, the coordinates of the ultrasonic probe in space are calculated according to the measurement values of the gyroscope and the laser sensor, so that the probe has the spatial positioning capability, the spatial positioning inaccuracy caused by the dependence on the experience of the operator and the manual adjustment is avoided, and the accuracy and stability of the ultrasonic probe are improved, which is convenient to use. BRIEF DESCRIPTION OF DRAWINGS

[0056] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0057] Figure 1 A flowchart of an ultrasonic probe positioning method provided by the embodiment of the present application is shown in the figure.

[0058] Figure 2 A flowchart of an ultrasonic probe positioning method provided by the embodiment of the present application is shown in the figure.

[0059] Figure 3 A preview interface provided by the embodiment of the present application is shown in the figure.

[0060] Figure 4 A sensor interface provided by the embodiment of the present application is shown in the figure.

[0061] Figure 5 A module information interface provided by the embodiment of the present application is shown in the figure.

[0062] Figure 6 A probe information interface provided by the embodiment of the present application is shown in the figure.

[0063] Figure 7 A coordinate projection interface provided by the embodiment of the present application is shown in the figure.

[0064] Figure 8 A module test interface provided by the embodiment of the present application is shown in the figure.

[0065] Figure 9 A schematic diagram of an ultrasonic probe positioning system provided for an embodiment of the present application is shown in the figure;

[0066] Figure 10 A schematic diagram of an integrated module provided for an embodiment of the present application is shown in the figure;

[0067] Figure 11 A schematic diagram of an ultrasonic probe provided for an embodiment of the present application is shown in the figure;

[0068] Figure 12 A schematic diagram of a data transmission module provided for an embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0069] In order to make the objectives, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0070] The ultrasonic probe positioning method, system and ultrasonic probe described in the embodiments of the present application collect data through a module, and software calculates and corrects the data, so as to obtain final probe coordinates and complete positioning. The probe has spatial positioning capability, thereby providing support and technical accumulation for an intelligent ultrasonic diagnostic instrument.

[0071] Referring to Figure 1 As shown in the figure, an ultrasonic probe positioning method is provided, the method is applied to an ultrasonic probe positioning system, the system at least includes three laser sensors and a gyroscope, wherein the three laser sensors are perpendicular to each other, and the method includes:

[0072] 101. Calculate an angle value of the ultrasonic probe through the gyroscope;

[0073] 102. Obtain distance values measured by the three laser sensors respectively;

[0074] 103. Calculate coordinates of the ultrasonic probe according to the distance values and the angle value;

[0075] The method further includes:

[0076] 104. Predict an angle error according to the angle value in a track period;

[0077] 105. Predict a distance error according to the distance value;

[0078] 106. Generate a coordinate correction value according to the angle error and the distance error;

[0079] 107. Correct the coordinates according to the coordinate correction value.

[0080] Optionally, referring to Figure 2 As shown in step 101, the angle value of the ultrasonic probe calculated by the gyroscope includes:

[0081] 201. Establish a space coordinate system by three laser sensors. The process can be specifically as follows:

[0082] Set the laser emission directions of the three laser sensors as three normal vectors in the x+, y+, and z+ directions, respectively corresponding to the initial positions, and set the unit lengths of the three normal vectors as x, y, and z.

[0083] 202. Calculate the angles θ x , θ y , and θ z of the laser emission directions of the three laser sensors by the gyroscope. The process can be as follows:

[0084] After rotation, the three normal vectors form angles with the coordinate axes, and the angles θ x , θ y , and θ z are obtained according to the angles given by the gyroscope and the angles formed after corresponding to each direction normal vector.

[0085] According to the formula:

[0086] sinxcosy=-tanθ y cosx-tanθ x siny;

[0087] sinycosz=-tanθ z cosy-tanθ y sinz;

[0088] sinzcosx=-tanθ x cosz-tanθ z sinx;

[0089] Solve θ x , θ y , and θ z .

[0090] Optionally, obtaining the distance values measured by the three laser sensors respectively includes:

[0091] According to the size of the room where the ultrasonic probe is located; the size includes length, width, and height.

[0092] Obtain the measurement values corresponding to the three laser sensors respectively.

[0093] According to the size and the measurement values, obtain the distance values OA, OB, and OC.

[0094] Optionally, calculating the coordinate of the ultrasound probe according to the distance value and the angle value comprises:

[0095] Obtaining the correction value of the system and the ultrasound probe;

[0096] Calculating the coordinate according to the correction value, the angle and the distance value, which can be:

[0097] Setting the final distance of the laser sensor to the wall surface in the three directions as OA, OB and OC, taking OA as an example, the distance OA is equal to “the measured value of the laser sensor in the OA direction + the comprehensive correction value of the laser sensor in the OA direction” (the same for OB and OC), and the vertical distance from the module center to the wall surface in the three directions is OA2, OB2 and OC2,

[0098] Therefore, the formula is:

[0099] OA2=IOAcosxcosθ x I, OB2=IOBcosycosθ y I, OA2=IOCcoszcosθzI,

[0100] Solving x, y, z and θ x , θ y , θ z ;

[0101] Wherein, θ x , θ y , θ z The supported value range is [-45°, 45°];

[0102] After obtaining the above values, further calculate the coordinate difference value between the ultrasound probe and the system; the process can be specifically:

[0103] Setting the difference values of x, y and z directions as a, b and c respectively;

[0104] According to the formula:

[0105] x coordinate difference a=acosθ x cosx+bsinθ y +ccosθ z sinz;

[0106] y coordinate difference b=acosθ x sinx+bcosθ y cosy+csinθ z ;

[0107] z coordinate difference c=asinθ x +bcosθy siny+ccosθ z cosz;

[0108] respectively.

[0109] The final longitudinal coordinate of the ultrasound head is calculated as:

[0110] The left lower corner of the house is set as the coordinate 0 point, the length of the house corresponds to the x coordinate, the width of the house corresponds to the y coordinate, and the height of the house corresponds to the z coordinate,

[0111] If OA2, OB2 and OC2 are in the positive direction, then:

[0112] The final x coordinate is: house length - OA2 + x coordinate difference;

[0113] The final y coordinate is: house width - OB2 + y coordinate difference;

[0114] The final z coordinate is: house height - OC2 + z coordinate difference, thereby completing the positioning.

[0115] If OA2, OB2 and OC2 are in the negative direction, then:

[0116] The final x coordinate is: OA2 + x coordinate difference;

[0117] The final y coordinate is: OB2 + y coordinate difference;

[0118] The final z coordinate is: OC2 + z coordinate difference, thereby completing the positioning.

[0119] Optionally, the method further comprises:

[0120] According to the measurement value of the gyroscope, the trajectory period is predicted.

[0121] Optionally, according to the angle value, the angle error prediction comprises:

[0122] A prediction model is constructed through a neural network;

[0123] According to the angle and the prediction model, the angle error is predicted; or

[0124] After the trajectory period ends, the angle error is predicted according to the angle and the prediction model.

[0125] Optionally, according to the angle error and the distance error, a coordinate correction value is generated, comprising:

[0126] According to the angle error, a coordinate correction angle is calculated;

[0127] According to the distance error, a coordinate correction distance is calculated;

[0128] Set the coordinate correction angle and coordinate correction distance, which are the coordinate correction values.

[0129] In practical applications, the above coordinate method is integrated into the software, and the software can be used in the following ways:

[0130] Specific implementation method: First, fix at least three laser sensors on the three axes (xyz axis) of the coordinate system, fix the gyroscope on the support, and connect the line to the PC through the hub; Second, open the software, complete the settings, enter the "Module Information" interface, "Reset Gyroscope" and take points. After taking points, the probe position information is automatically generated in "Probe Information" to complete the positioning.

[0131] Specifically, refer to Figure 3 As shown, the software also includes at least a preview interface, which includes a real-time display function for the comprehensive correction value of the laser sensor, the ability to add other probe functions, a laser sensor startup function, a position difference display function between the ultrasonic probe and the system, and a gyroscope error correction function.

[0132] Reference Figure 4 As shown, it also includes a sensor interface for displaying gyroscope measurements and sensor measurements;

[0133] Reference Figure 5 As shown, the module information interface is used to display the current operating status of the system;

[0134] Reference Figure 6 As shown, the probe information interface is used to display the real-time angle and real-time coordinates of the ultrasound probe;

[0135] Reference Figure 7 As shown, the coordinate projection interface is used to display the real-time position of the ultrasound probe in the room.

[0136] Reference Figure 8 As shown, the module test interface is used to test the gyroscope and laser sensor.

[0137] Reference Figure 9 An ultrasonic probe positioning system is also provided, comprising a processing device, an ultrasonic probe, three laser sensors, and a gyroscope, wherein:

[0138] The gyroscope is used to calculate the angle value of the ultrasonic probe;

[0139] Three laser sensors are used to measure distance values;

[0140] Reference Figure 10 As shown in the figure, in practical applications, the integrated module of three laser sensors and a gyroscope can be as shown in the figure.

[0141] The processing equipment is used for:

[0142] According to the distance value and the angle value, a coordinate of the ultrasonic probe is calculated;

[0143] The processing device is further configured to:

[0144] According to the angle value, an angle error is predicted in the track period;

[0145] According to the distance value, a distance error is predicted;

[0146] According to the angle error and the distance error, a coordinate correction value is generated;

[0147] According to the coordinate correction value, the coordinate is corrected.

[0148] Optionally, the processing device is specifically configured to:

[0149] A space coordinate system is established by the three laser sensors;

[0150] The angle θ x , θ y and θ z of the laser emission direction of the three laser sensors are calculated respectively by the gyroscope; x , θ y and θ z ;

[0151] According to the size of the room where the ultrasonic probe is located;

[0152] The measurement values corresponding to the three laser sensors are obtained respectively;

[0153] According to the size and the measurement values, the distance values OA, OB and OC are obtained.

[0154] The technology used in the system is similar to the laser range finder and the laser radar technology, but the functions are completely different. As a product, the laser range finder cannot evaluate the object attitude and cannot perform angle correction because it is not integrated with a gyroscope. Therefore, if a more accurate measurement is needed, the laser range finder needs to be fixed on the wall for measurement, and only one direction can be measured. To measure two or more directions, the measurement action needs to be repeated at least twice. Therefore, this technology cannot meet the needs of the ultrasonic probe to achieve accurate positioning. The laser radar is also a product, which has a large measurement range and a large number of samples, but the composition is complex and the calculation is large. The laser radar measures the distance between the obstacle and the radar, but not the positioning itself. Moreover, the product size is too large (more than 5 cm), which is not suitable for integration on the probe. Because the sampling amount is too large, the scanning angle is about 360°X90°, and the laser will inevitably be shot at the human body, which may cause potential harm to the human body. In addition, although some laser radars are integrated with a gyroscope, they do not disassemble the Euler angle, which may cause calculation errors. The application fields are also different. The laser radar is mainly applied to the obstacle avoidance of intelligent vehicles, and is not used for positioning of small space objects.

[0155] The technology used in the system overcomes the weakness of laser range finder and laser radar in this field, and proposes to fix the flat laser ranging sensor and the gyroscope on the square-like support to form a smaller module, which is better integrated on the probe and completes the ranging work. If the gyroscope is placed in the probe in the form of a chip in the later stage, the size of the entire module can be controlled around 2.0cmX2.0cmX2.0cm, which greatly reduces the volume and is easier to integrate on the probe.

[0156] The overall implementation scheme of the system is divided into two parts. One is the combination module part, including several laser sensors, supports and gyroscopes. At least three laser sensors are fixed on the three axes (x, y and z axes) of the coordinate system, the gyroscope is fixed on the support, and the line is connected to the PC end through the hub. The second is the software part. Using the software, the other three angles are obtained by processing the angle of the gyroscope, and the final correct distance value is obtained by twice trigonometric function conversion of the distance value measured by the laser ranging sensor. According to the original direction of the sensor and the size of the room, the position correction between the probe and the module, the final probe coordinates are calculated, and the space positioning is completed.

[0157] Compared with the laser radar technology, the system has obvious advantages, including:

[0158] First, the hardware structure is relatively simple and the cost is lower;

[0159] Second, the module is small in size and easy to integrate into the probe in the future;

[0160] Third, through the software, the laser beam angle change can be calculated more accurately, and the ranging and calculation are more accurate. Compared with the conventional ultrasonic probe, the evolution is obvious, which makes the conventional ultrasonic probe have the function of space positioning. In the later stage, with the enrichment of software functions, the probe can be tracked after multiple sampling, so as to perform intelligent analysis and make intelligent ultrasonic diagnostic instrument.

[0161] Compared with other positioning systems, the system also has obvious advantages, including:

[0162] First, the laser in the system does not need to pass through the patient's body and will not cause harm to the patient, while some ultrasonic systems need to pass through the tissue and some visual systems need cameras, which have a certain impact on the patient's privacy;

[0163] Second, the module is small in size and easy to integrate on the probe.

[0164] Third, there is a special supporting software, which is more convenient to use and requires lower operating personnel. Fourth, the system can also be transplanted to other fields of ranging or positioning, such as indoor positioning.

[0165] Referring to Figure 11 The ultrasonic probe is provided.

[0166] The probe body, the data transmission module, the gyroscope and the three laser sensors;

[0167] The gyroscope is used to calculate the angle value of the ultrasonic probe;

[0168] The three laser sensors are respectively used to measure the distance value;

[0169] The data transmission module is used to transmit the angle value and the distance value to the processing device, so that the processing device calculates the coordinate of the ultrasonic probe according to the distance value and the angle value, predicts the angle error according to the angle value in the track period, predicts the distance error according to the distance value, generates the coordinate correction value according to the angle error and the distance error, and corrects the coordinate according to the coordinate correction value.

[0170] Optionally, in actual application, the data transmission module can refer to Figure 12 .

[0171] The above several specific embodiments can be combined with each other, and the same or similar concepts or processes can not be described in some embodiments.

[0172] The technical features of the above embodiments can be combined arbitrarily (as long as the combination of the technical features does not exist contradiction), in order to make the description simple, not all possible combinations of the technical features in the above embodiments are described; these embodiments which are not explicitly written should also be considered as the scope of the present application.

[0173] The above is a more specific and detailed description of the present application through general description and specific embodiments. It should be noted that without departing from the concept of the present application, it is obvious that some modifications and improvements can be made to these specific embodiments, which are within the scope of the present application. Therefore, the protection scope of the present application patent should be subject to the appended claims.

[0174] The above is only the preferred embodiment of the present application, and is not used to limit the present application, any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. An ultrasound probe positioning method, characterized by, The method is applied to an ultrasonic probe positioning system, the system comprising at least three laser sensors and a gyroscope, wherein the three laser sensors are perpendicular to each other, and the method comprises: calculating an angle value of the ultrasonic probe by the gyroscope; acquiring distance values measured by the three laser sensors respectively; calculating coordinates of the ultrasonic probe according to the distance values and the angle value; the method further comprises: predicting an angle error according to the angle value within a trajectory period; predicting a distance error according to the distance values; generating a coordinate correction value according to the angle error and the distance error; and correcting the coordinates according to the coordinate correction value.

2. The method of claim 1, wherein, The calculating an angle value of the ultrasonic probe by the gyroscope comprises: establishing a space coordinate system by the three laser sensors; By means of the gyroscope, the angles θ x , θ y and θ z of the laser emission directions of the three laser sensors are calculated respectively.

3. The method of claim 2, wherein, The acquiring distance values measured by the three laser sensors respectively comprises: acquiring the size of a room where the ultrasonic probe is located; acquiring measurement values corresponding to the three laser sensors respectively; and obtaining the distance values OA, OB and OC according to the size and the measurement values.

4. The method of claim 3, wherein, The calculating coordinates of the ultrasonic probe according to the distance values and the angle value comprises: acquiring a correction value of the system and the ultrasonic probe; and calculating the coordinates according to the correction value, the angle and the distance values.

5. The method of claim 4, wherein, The method further comprises: predicting the trajectory period according to a measurement value of the gyroscope.

6. The method of claim 5, wherein, The predicting an angle error according to the angle value comprises: constructing a prediction model by a neural network; predicting the angle error according to the angle and the prediction model; or predicting the angle error according to the angle and the prediction model after the trajectory period ends.

7. The method of claim 6, wherein, The generating a coordinate correction value according to the angle error and the distance error comprises: calculating a coordinate correction angle according to the angle error; calculating a coordinate correction distance according to the distance error; and setting the coordinate correction angle and the coordinate correction distance as the coordinate correction value.

8. An ultrasound probe positioning system, characterized by The system comprises a processing device, an ultrasonic probe, three laser sensors and a gyroscope, wherein: the gyroscope is configured to calculate an angle value of the ultrasonic probe; the three laser sensors are configured to measure distance values respectively; the processing device is configured to: calculate coordinates of the ultrasonic probe according to the distance values and the angle value; and the processing device is further configured to: predict an angle error according to the angle value within a trajectory period; predict a distance error according to the distance values; generate a coordinate correction value according to the angle error and the distance error; and correct the coordinates according to the coordinate correction value.

9. The system of claim 8, wherein, The processing device is specifically configured to: establish a space coordinate system by the three laser sensors; By means of the gyroscope, the angles θ x , θ y and θ z of the laser emission directions of the three laser sensors are calculated respectively acquire the size of a room where the ultrasonic probe is located; acquire measurement values corresponding to the three laser sensors respectively; and obtain the distance values OA, OB and OC according to the size and the measurement values.

10. An ultrasound probe, characterized by, The ultrasonic probe comprises: a probe body, a data transmission module, a gyroscope and three laser sensors; the gyroscope is configured to calculate an angle value of the ultrasonic probe. The three laser sensors are respectively used for measuring distance values; The data transmission module is configured to transmit the angle values and the distance values to a processing device, so that the processing device calculates coordinates of the ultrasonic probe according to the distance values and the angle values, predicts an angle error according to the angle values in a track period, predicts a distance error according to the distance values, generates a coordinate correction value according to the angle error and the distance error, and corrects the coordinates according to the coordinate correction value.

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