Acquisition method of mechanical arm assisted extended ultrasonic image

Abstract

The method for acquiring the mechanical arm auxiliary expansion ultrasonic image comprises the following steps of: receiving an ultrasonic scanning area image from a three-dimensional image shooting device by using a computer so as to generate three-dimensional shape data; a step for generating an expanded image plane for acquiring an expanded ultrasound image on the generated three-dimensional shape data by means of the computer; a step of generating, using the computer, a line scan path for acquiring a plurality of ultrasound image frames including overlapping regions of the extended image plane; a step of moving an ultrasonic probe along the generated line scan path by means of the computer to acquire a plurality of ultrasonic image frames; a step of selecting an ultrasound image frame corresponding to the expanded image plane; and a step of synthesizing overlapping portions of the selected plurality of ultrasound image frames to generate an expanded ultrasound image.

Description

Technical Field

[0001] This invention relates to a method for acquiring extended ultrasonic images using a robotic arm. More specifically, it relates to a method for generating three-dimensional shape data of an ultrasonic scanning region and forming an extended image plane based on the generated three-dimensional shape data to acquire an extended ultrasonic image. Background Technology

[0002] Ultrasonic imaging devices are widely used to detect diseases in parts of the human body such as the thyroid, bones, and breasts. An ultrasound image (or ultrasoundsonography) is produced by transmitting pulse waves through human tissues with different acoustic impedances, receiving the reflected signals, amplifying and converting them to present them as an image.

[0003] When performing ultrasound examinations, if there is air between the ultrasound probe and the skin surface, the incident ultrasound waves are reflected by the air, making it difficult to obtain high-quality ultrasound images. Therefore, to prevent ultrasound reflection caused by air between the probe and the skin surface, an ultrasound gel is applied to the skin surface. Furthermore, the ultrasound gel applied to the skin surface facilitates smooth probe movement. In ultrasound examinations, surgeons typically apply the ultrasound gel directly to the skin surface using their hands or instruments.

[0004] On the other hand, when surgeons hold up ultrasound probes for extended periods during diagnosis, it puts strain on their shoulders and arms, leading to pain and reducing their concentration on the ultrasound images. To address this issue, ultrasound systems that utilize ultrasound probes to acquire ultrasound images are being developed.

[0005] For example, U.S. Patent Publication US2012 / 0271173A1 (Invention Title: AUTOMATICULTRASONICSCANNING SYSTEM AND SCANNING METHOD THEREOF) discloses a system for acquiring ultrasound images using a robotic arm. The system disclosed in that patent includes a multi-axis robotic arm, an ultrasound probe, a three-dimensional image capture device, and a computer. The three-dimensional image capture device includes a depth camera positioned to capture the ultrasound scan area of ​​the patient. The computer processes the images from the depth camera, causing the ultrasound probe mounted on the robotic arm to move to generate a scanning path for acquiring ultrasound images of the patient, and controls the multi-axis robotic arm to move the ultrasound probe to acquire ultrasound images of the patient. In the case of using a robot to acquire ultrasound images, the system disclosed in that patent document does not disclose the idea of ​​automatically applying an ultrasound gel to the patient's skin surface.

[0006] Furthermore, US Patent Publication US2008 / 0021317A1 (Invention Title: ULTRASOUND MEDICALIMAGING WITH ROBOTIC ASSISTANCE FOR VOLUME MAGING) discloses a system for acquiring ultrasound images using a robotic arm. The ultrasound system disclosed in that patent includes a robot mechanism, an ultrasound transducer mounted on the robot mechanism, a force sensor, an ultrasound imaging system, a processor, and a digitizer. The digitizer can obtain three-dimensional surface information of the body part scanned by the ultrasound transducer, the processor uses the three-dimensional surface information to determine the position information for scanning by the ultrasound transducer, and can control the robot mechanism to automatically acquire ultrasound images. Furthermore, paragraph

[0038] of the patent document describes that the robot mechanism includes a gel dispenser and a suction spout, and supplies gel from a gel magazine to the robot mechanism via a tube. It also describes that the gel dispenser is configured adjacent to the ultrasound transducer, and that a pump supplies gel from the gel dispenser to the patient. Summary of the Invention

[0007] Technical issues However, the patent document does not disclose the specific technical structure of the gel dispenser. Furthermore, the system disclosed in the patent document includes a force sensor or pressure sensor and is configured to measure the force of contact between the ultrasound probe and the patient when acquiring ultrasound images using a robotic mechanism. That is, the system disclosed in the patent document is configured such that, when acquiring ultrasound images, the ultrasound probe mounted on the robotic mechanism directly contacts the patient and applies pressure to the patient at a predetermined pressure; and a force sensor is used to prevent excessive force from being applied to the patient.

[0008] When using a robotic arm to mount an ultrasound probe and scan a patient's skin surface to obtain ultrasound images, it is necessary to mitigate ultrasound reflections caused by airflow to achieve high-quality images. Therefore, a device is needed that can simultaneously apply an ultrasound gel to the patient's skin surface while moving the ultrasound probe mounted on the robotic arm. Furthermore, a device is needed that can automatically apply the ultrasound gel to the skin surface in a manner that prevents air bubbles from being introduced into the gel.

[0009] Furthermore, there is a need for an ultrasound image acquisition system that utilizes a robot capable of acquiring ultrasound images without directly applying force to the patient while moving an ultrasound probe mounted on a robotic arm along a scanning path. Specifically, there is a need for a system that, while moving an ultrasound probe mounted on a robotic arm along a scanning path, contacts an ultrasound gel applied to the skin surface instead of directly contacting the probe, and simultaneously moves along the patient's skin surface to acquire acoustic images.

[0010] On the other hand, providing a full-section ultrasound image of the breast and other parts of the patient requiring ultrasound imaging would greatly aid in diagnosing the patient's condition. However, linear array ultrasound probes are only about 4-5 cm long, making it impossible to obtain an ultrasound image of the entire breast area in a single scan. Multiple cross-sectional images from the same plane can be combined to obtain a cross-sectional ultrasound image of the entire breast area. A system is needed that can utilize a multi-axis robotic arm to acquire multiple ultrasound cross-sectional images at the desired location and then combine them to provide an extended ultrasound image.

[0011] This invention addresses the problems described above that are required when using a multi-axis robotic arm to acquire ultrasound images of a patient.

[0012] The purpose of this invention is to provide a novel ultrasound medical imaging system that can automatically supply ultrasound gel when a mobile ultrasound probe mounted on a robotic arm is moved.

[0013] Furthermore, the object of the present invention is to provide a new ultrasound medical imaging device that does not exert excessive force on the patient when moving an ultrasound probe mounted on a robotic arm.

[0014] Furthermore, the object of the present invention is to provide a method for acquiring ultrasound medical images using a novel robotic arm-assisted ultrasound medical imaging system.

[0015] Furthermore, the object of the present invention is to provide a method for forming extended ultrasound images using a novel robotic arm-assisted ultrasound medical imaging system.

[0016] Problem-solving methods According to one embodiment of the present invention, a robotic arm-assisted ultrasound medical imaging system is provided. The medical imaging system of the present invention includes: a multi-axis robotic arm; a multi-axis robotic arm control device for controlling the multi-axis robotic arm; an ultrasound probe mounted on the multi-axis robotic arm; an ultrasound image generation device for controlling the ultrasound probe to generate an ultrasound image; and a three-dimensional image capturing device. It also includes: an ultrasound gel dispenser mounted on the multi-axis robotic arm and containing ultrasound gel; a nozzle mounted adjacent to the ultrasound probe for receiving ultrasound gel from the ultrasound gel dispenser and discharging it forward in the direction of movement of the ultrasound probe; and a dispenser control device for controlling the discharge of the ultrasound gel contained in the ultrasound gel dispenser. Furthermore, it includes a computer for controlling the multi-axis robotic arm control device, the ultrasound image generation device, the three-dimensional image capturing device, and the dispenser control device.

[0017] In particular, in the medical imaging system of the present invention, the computer receives an ultrasound scan area image of the patient from the three-dimensional image capturing device, processes the ultrasound scan area image to generate three-dimensional shape data of the ultrasound scan area, and moves the ultrasound probe mounted on the multi-axis robotic arm based on the three-dimensional shape data of the ultrasound scan area to generate an ultrasound scanning path for acquiring ultrasound images. The computer controls the multi-axis robotic arm control device, the ultrasound image generating device, and the distributor control device to discharge ultrasound gel and acquire ultrasound images during the period when the ultrasound probe moves along the ultrasound scanning path.

[0018] In several embodiments, the ultrasound scanning path generated by the computer can be configured such that the end of the ultrasound probe is spaced a predetermined distance from the surface of the ultrasound scanning portion of the patient.

[0019] In several embodiments, the ultrasonic gel dispenser includes: a hollow housing with an inlet on one side connected to an air source for high-pressure air inflow, and an opening on the other side for inserting a flexible ultrasonic gel container, and is mounted on the multi-axis robotic arm; a hollow housing cap having a small-diameter portion and a large-diameter portion, the small-diameter portion being configured for inserting an outlet for the internally inserted flexible ultrasonic gel container, and the large-diameter portion being configured to seal against the opening of the hollow housing. Furthermore, the dispenser control device includes a valve for restricting the flow of air supplied to the hollow housing of the gel dispenser.

[0020] In several embodiments, the ultrasonic probe may be a linear array probe, and the nozzle may have an inlet, an outlet, and a passage for connecting the inlet and the outlet. The passage may be configured such that the length of its profile increases as it gets closer to the outlet from the inlet, thereby exceeding the length of the linear array probe.

[0021] In several embodiments, the end of the nozzle may be configured to be spaced at a predetermined distance from the end of the ultrasound probe, so as to be further away from the patient's skin surface than the end of the ultrasound probe.

[0022] In several embodiments, the nozzle can be configured to surround the width-direction side of the linear array probe, such that the width-direction side of the linear array probe restricts the passage.

[0023] According to another embodiment of the present invention, a method for acquiring ultrasound images assisted by a robotic arm is provided. The method for acquiring ultrasound medical images assisted by a robotic arm is a method for acquiring ultrasound medical images using the aforementioned robotic arm-assisted ultrasound medical imaging system.

[0024] The robotic arm-assisted ultrasound medical image acquisition method of the present invention includes the following steps: receiving an ultrasound scan area image of a patient from a depth imaging device in a computer; processing the received ultrasound scan area image of the patient in the computer to generate three-dimensional shape data of the ultrasound scan area; moving an ultrasound probe mounted on a multi-axis robotic arm in the computer based on the generated three-dimensional shape data of the ultrasound scan area to generate an ultrasound scan path for acquiring ultrasound images; and controlling the multi-axis robotic arm, the ultrasound probe mounted on the multi-axis robotic arm, and an ultrasound gel supply mechanism mounted adjacent to the ultrasound probe in the computer to discharge ultrasound gel in front of the movement path of the ultrasound probe during the movement of the ultrasound probe along the ultrasound scan path, and acquiring ultrasound images.

[0025] In several embodiments, the ultrasound scanning path generated by the computer can be configured such that the end of the ultrasound probe is spaced a predetermined distance from the surface of the ultrasound scanning area of ​​the patient. Furthermore, the ultrasound gel dispensing mechanism may include: an ultrasound gel dispenser mounted on the multi-axis robotic arm and containing ultrasound gel; a nozzle mounted adjacent to the ultrasound probe to receive ultrasound gel from the ultrasound gel dispenser and discharge it forward in the direction of movement of the ultrasound probe; and a dispenser control device for controlling the discharge of ultrasound gel contained in the ultrasound gel dispenser, wherein the computer can be configured to control the dispenser control device to discharge the ultrasound gel.

[0026] In several embodiments, the ultrasound probe may be a linear array probe, and the computer controls the gel dispenser to dispense ultrasound gel in a manner greater than a predetermined distance G1 between the end of the linear array probe and the surface of the patient's ultrasound scanning area, and the product of the length of the linear array probe and the moving speed of the linear array probe.

[0027] According to another embodiment of the present invention, a method for acquiring extended ultrasound images is provided.

[0028] The method for acquiring extended ultrasound images according to the present invention utilizes a multi-axis robotic arm equipped with an ultrasound probe, a computer, and a three-dimensional image capturing device to acquire extended ultrasound images. The method includes: capturing an ultrasound scan area of ​​a patient using the three-dimensional image capturing device; receiving the ultrasound scan area image from the three-dimensional image capturing device using the computer to generate three-dimensional shape data; generating an extended image plane for acquiring extended ultrasound images relative to the generated three-dimensional shape data using the computer; generating a line scan path for acquiring multiple ultrasound image frames including overlapping regions for the extended image plane using the computer; controlling the robotic arm equipped with the ultrasound probe using the computer to move the ultrasound probe along the generated line scan path to acquire multiple ultrasound image frames; selecting an ultrasound image frame corresponding to the extended image plane from the acquired multiple ultrasound image frames using the computer; and combining the overlapping portions of the selected multiple ultrasound image frames using the computer to generate an extended ultrasound image.

[0029] In several embodiments, the step of acquiring the plurality of ultrasonic image frames may further include using the computer to control the multi-axis robotic arm, the ultrasonic probe mounted on the multi-axis robotic arm, and the ultrasonic gel supply device to discharge ultrasonic gel in front of the movement path of the ultrasonic probe during the period when the ultrasonic probe moves along the ultrasonic scanning path, and to acquire ultrasonic images.

[0030] In several embodiments, the extended image plane generated in the step of generating the extended image plane can be a plane parallel to the YZ plane relative to the reference coordinates of the multi-axis robotic arm.

[0031] In several embodiments, the ultrasound scanning path generated by the computer can be configured such that the end of the ultrasound probe is spaced a predetermined distance G1 from the surface of the patient's ultrasound scanning area.

[0032] Invention Effects The robotic arm-assisted ultrasound medical imaging system of the present invention is configured to simultaneously apply an ultrasound gel to the patient's skin surface while moving the ultrasound probe mounted on the robotic arm, thereby preventing ultrasound reflection caused by air on the skin surface and obtaining high-quality ultrasound images.

[0033] Furthermore, in the robotic arm-assisted ultrasound medical imaging system of the present invention, when the ultrasound probe mounted on the robotic arm moves along the scanning path, the ultrasound probe does not come into direct contact with the patient's skin but comes into contact with the ultrasound gel applied to the skin surface, and moves along the patient's skin surface at the same time, thereby preventing the ultrasound probe from applying excessive force to the patient.

[0034] Furthermore, the method for obtaining expanded ultrasound images according to the present invention can provide clinicians with expanded ultrasound images (panoramic images) of the ultrasound scan sites of patients, which helps to improve diagnostic results. Attached Figure Description

[0035] Figure 1 This is a block diagram illustrating the multi-axis robotic arm-assisted ultrasound medical imaging system of the present invention.

[0036] Figure 2 This is a perspective view of an embodiment of the robotic arm-assisted ultrasound medical imaging system of the present invention.

[0037] Figure 3 To indicate Figure 2 A side view of the setup of the robotic arm, gel dispenser, and ultrasonic probe in the illustrated embodiment.

[0038] Figure 4 A perspective view of an embodiment of a hand, ultrasonic probe, nozzle, and three-way solenoid valve mounted on a robotic arm.

[0039] Figure 5 To surround Figure 4 A three-dimensional view of the nozzle of the ultrasonic probe is shown.

[0040] Figure 6 for Figure 5 The nozzle shown is a top view.

[0041] Figure 7 for Figure 6 XX-line sectional view.

[0042] Figure 8 for Figure 5 The diagram shows a passage formed in the nozzle by means of the side of an ultrasonic probe.

[0043] Figure 9 This is a cross-sectional view of an embodiment of the gel dispenser of the present invention.

[0044] Figure 10 To indicate separation Figure 9 A schematic diagram showing the state of the gel dispenser.

[0045] Figure 11 To indicate in Figure 9A schematic diagram showing the discharge of ultrasonic gel from the gel dispenser.

[0046] Figure 12 This is a schematic diagram of the ultrasound scan path for the thyroid region of a patient.

[0047] Figure 13 This is a schematic diagram of the ultrasound scan path for the patient's musculoskeletal region.

[0048] Figure 14 and Figure 15 This is a schematic diagram illustrating the state of ultrasonic gel being supplied from a nozzle when using an ultrasonic probe to perform a line scan of the skin surface.

[0049] Figure 16 This is a flowchart illustrating the multi-axis robotic arm-assisted ultrasound medical image acquisition method of the present invention.

[0050] Figure 17 This is a schematic diagram of the ultrasound scan path for the right breast region of a patient.

[0051] Figure 18 This is a schematic diagram illustrating the overlapping scan of the right breast area of ​​a patient using ultrasound.

[0052] Figure 19 This is a schematic diagram representing an extended image plane.

[0053] Figure 20 A flowchart illustrating the method for forming the extended ultrasound image of the present invention.

[0054] Figure 21 This is an example of an image frame corresponding to the extended image plane I4 among multiple image frames of an ultrasonic scanning path.

[0055] Figure 22 To Figure 21 An example of obtaining an extended ultrasound image by overlapping and synthesizing the image frames shown. Detailed Implementation

[0056] Other objects, specific advantages, and novel features of the present invention will become more apparent from the following detailed description and preferred embodiments in conjunction with the accompanying drawings. In describing the invention, the size or shape of structural elements shown in the drawings may be exaggerated or simplified for clarity and convenience. Furthermore, terms specifically defined in consideration of the structure and function of the invention may vary depending on the intention or convention of the user, operator, or practitioner. These terms should be interpreted in accordance with the meaning and concept of the purpose and effects of the invention, based on the entire contents of this specification.

[0057] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0058] Figure 1 This is a block diagram illustrating the multi-axis robotic arm-assisted ultrasound medical imaging system of the present invention. Figure 2 This is a perspective view of an embodiment of the robotic arm-assisted ultrasound medical imaging system of the present invention. Figure 3 To indicate Figure 2 A side view of the setup of the robotic arm, gel dispenser, and ultrasonic probe in the illustrated embodiment.

[0059] Reference Figures 1 to 3 The medical imaging system 10 of the present invention includes a multi-axis robotic arm 300, a multi-axis robotic arm control device 310 for controlling the multi-axis robotic arm 300, an ultrasonic image acquisition device 100, and a three-dimensional image capturing device 510. Furthermore, it may also have an additional camera 520 for capturing two-dimensional images.

[0060] The ultrasound image acquisition device 100 includes: an ultrasound probe 110 mounted on a multi-axis robotic arm 300; and an ultrasound image generation device 120 for controlling the ultrasound probe 110 to generate ultrasound images. The ultrasound probe 110 sends ultrasound signals to the patient and receives echo signals from inside the patient's body. Various ultrasound probes 110 are known. For example, linear array probes, phase array probes, convex probes, etc., are known, and an ultrasound probe can be appropriately selected for use according to the system requirements of the invention. The ultrasound image generation device 120 may include a processor that can control the ultrasound probe 110 to acquire ultrasound images and transmit them to external devices.

[0061] The multi-axis robotic arm 300 is capable of motion control along at least five axes, preferably six. The multi-axis robotic arm 300 has multiple articulated arms 302, 304, 306 and a hand 308, and can be a four-axis robot or a vertical multiple joint robot capable of XYZ axis translational movement and Z-axis rotational movement (Rz). Furthermore, the multi-axis robotic arm 300 can be a six-axis multiple joint robotic arm capable of XYZ axis translational movement and XYZ axis rotational movement (Rx, Ry, Rz). The multi-axis robotic arm control device 310 moves the ultrasonic probe 110 to a designated position according to the robotic arm control program 442 of the computer 400, and controls the pose used to acquire ultrasonic images. That is, the robotic arm 300 can position the ultrasonic probe 110 at any position and in any posture in three-dimensional space, and move the ultrasonic probe 110 along any trajectory and at any speed.

[0062] The three-dimensional image capturing device 510 is a device for capturing ultrasound images of a patient's scanned area to provide three-dimensional shape information. A depth camera or a 3D camera can be used as the three-dimensional image capturing device 510. The depth camera provides depth information of the captured image. Figure 2 and Figure 3 As shown, the 3D camera 510 can be mounted on the arm 306, which is equipped with the ultrasonic probe 110 of the multi-axis robotic arm 300. Furthermore, the 3D camera 510 and the 2D camera 520 can be mounted independently of the multi-axis robotic arm 300 on a platform, wall, or other surface.

[0063] Furthermore, the medical imaging system 10 of the present invention includes an ultrasonic gel supply device 200 for applying ultrasonic gel to the ultrasonic scanning area of ​​a patient. The ultrasonic gel supply device 200 is a device for continuously supplying ultrasonic gel to the patient's skin surface as the ultrasonic probe 110 mounted on the multi-axis robotic arm 300 moves. The ultrasonic gel supply device 200 includes a gel dispenser 210, a nozzle 240, and a dispenser control device 270. The ultrasonic gel dispenser 210 is mounted on the multi-axis robotic arm 300 and contains ultrasonic gel. The nozzle 240 may be mounted adjacent to the ultrasonic probe 110 to receive ultrasonic gel from the ultrasonic gel dispenser 210 and discharge it forward in the direction of movement of the ultrasonic probe 110. The dispenser control device 270 is a device for controlling the discharge of ultrasonic gel contained in the ultrasonic gel dispenser 210.

[0064] Reference Figure 2 and Figure 3 The gel dispenser 210 is clamped by multiple clamps 320 in a manner detachable from the arm 302. The ultrasonic probe 110 is fixed to the hand 308 of the robotic arm 300, and a pair of nozzles 240, 242 are fixed to the ultrasonic probe 110. A three-way solenoid valve 252 for selectively supplying ultrasonic gel to the nozzles 240, 242 is fixed to the hand 308. The ultrasonic gel dispenser 210 and the three-way solenoid valve 252 are connected by a flexible hose 256 for allowing the ultrasonic gel to pass through. A three-way manual valve, which allows selective control of the supply of ultrasonic gel 30 via a handle, can be used instead of the three-way solenoid valve 252, which automatically changes the flow direction of the ultrasonic gel. A pressure relief valve can be connected to the flexible hose 256. When a pressure exceeding a specified pressure is applied, the pressure relief valve opens, allowing the ultrasonic gel in the flexible hose 256 to be discharged externally, thus protecting the equipment. Furthermore, a check valve can be installed on the hose 256 to prevent backflow of the ultrasonic gel.

[0065] Figure 4 This is a perspective view of one embodiment of a hand 308, ultrasonic probe 110, nozzle 240, and three-way solenoid valve 252 mounted on a robotic arm. In this embodiment, the ultrasonic probe 110 can be a linear array probe. The nozzle 240 is positioned in front of the ultrasonic probe 110 in the direction of movement (arrow D). As shown, the nozzle 240 is configured to surround the outer surface of the ultrasonic probe 110.

[0066] Figure 5 To surround Figure 4 A three-dimensional view of the nozzle of the ultrasonic probe is shown. Figure 6 for Figure 5 The top view of the nozzle shown. Figure 7 for Figure 6 A sectional view along line XX. And, Figure 8 for Figure 5 The diagram shows a passage formed in the nozzle by means of the side of an ultrasonic probe.

[0067] Reference Figures 5 to 7 The nozzle 240 has: an inlet 240a for supplying ultrasonic gel; an outlet 240c for discharging ultrasonic gel; and a passage 240b for connecting the inlet 240a and the outlet 240c. (Refer to...) Figure 8 In this embodiment, the passage 240b and outlet 240c of the nozzle 240 are configured to be limited by a side 110a in the width direction of the ultrasonic probe 110 surrounded by the nozzle 240. In several embodiments, unlike the nozzle in this embodiment, the passage and outlet may not be formed using a side 110a in the width direction of the ultrasonic probe 110, but rather by forming an additional wall corresponding to the side of the ultrasonic probe.

[0068] Reference Figure 7 In this embodiment, the passage 240b of the nozzle 240 is configured such that the length of the cross-section increases as it moves closer to the outlet 240c from the inlet 240a, i.e., forming a length k3>k2>k1 relationship. In several embodiments, preferably, the length k3 of the cross-section of the outlet 240c is greater than the length in the array direction of the ultrasonic probe 110. The nozzles 240 and 242 respectively diffuse and discharge the ultrasonic gel over a large area onto the patient's skin via the inverted funnel-shaped passage 248.

[0069] Reference Figure 4 The nozzle 242 is configured to surround the other side 110b of the ultrasonic probe 110 in the width direction, and, as shown, is positioned in the opposite direction to the travel direction of the ultrasonic probe 110. Therefore, the three-way solenoid valve 252 allows the ultrasonic gel to flow towards the nozzle 240 positioned in the travel direction of the ultrasonic probe 110, and blocks the flow of the ultrasonic gel towards the nozzle 242.

[0070] In several embodiments, only one nozzle 240 may be installed on one side 110a of the ultrasonic probe 110 in the width direction for use. In this case, instead of using a three-way solenoid valve 252 for selectively supplying ultrasonic gel to the nozzle, a hose 256 can be directly connected to the nozzle 240.

[0071] Figure 9 This is a cross-sectional view of an embodiment of the ultrasonic gel dispenser of the present invention. Figure 10 To indicate separation Figure 9 The diagram shows the state of the gel dispenser. Figure 11 To indicate in Figure 9 A schematic diagram showing the state of ultrasonic gel being discharged from the ultrasonic gel dispenser.

[0072] Reference Figure 9 and Figure 10 The ultrasonic gel dispenser 210 includes a hollow housing 220 and a housing cap 222. The hollow housing 220 has an inlet 220a on one side for connecting to an air source to allow high-pressure air to flow in, and an opening 220b on the other side for inserting a flexible ultrasonic gel container 230 into the hollow interior. Figure 3 As shown, the hollow outer shell 220 is mounted to the robotic arm 302 by means of multiple clamps 320. Like a container holding toothpaste, the ultrasonic gel container 230, being a flexible container that deforms under applied external force, has a screw formed at its outlet 232 for screw fastening with a screw formed on the inner circumferential surface of the outer shell cap 222. The hollow outer shell cap 222 has: a small-diameter portion 222a configured for inserting the outlet 232 of the internally inserted flexible ultrasonic gel container 230; and a large-diameter portion 222b configured for sealingly engaging with the opening 220b of the hollow outer shell 220. To achieve a sealed connection with the opening 220b of the hollow outer shell 220, a helical groove 222c can be formed on the inner circumferential surface of the large-diameter portion 222b, and a helical protrusion 220c can be formed on the outer circumferential surface of the opening 220b. Alternatively, threads for threaded fastening can be formed on both the inner circumferential surface of the large-diameter portion 222b and the outer circumferential surface of the opening 220b. Furthermore, an O-ring 226 can be installed at the end of the opening 220b, and a step 222d for pressurizing the O-ring 226 can be formed on the large-diameter portion 222b.

[0073] The ultrasonic gel dispenser 210 may further include a tube coupling 280 or a tube fitting for connecting one end of a flexible tube 256 to the outlet 232 of the ultrasonic gel container 230. The tube coupling 280 is inserted into the outlet 232 of the ultrasonic gel container 230 through a hole 224 formed in the small-diameter portion 222a of the housing cap 222. A flange 282 may be formed on the outer peripheral surface of the tube coupling 280, and multiple O-rings 284 are disposed between the housing cap 222 and the tube coupling 280, and between the ultrasonic gel container 230, to achieve a seal. Furthermore, to secure the tube coupling 280, an open cap 286 is separably threaded onto the outer peripheral surface of the small-diameter portion 222a of the housing cap 222. The flange 282 prevents the tube coupling 280 from separating from the gel container 230 due to jamming on the inner surface of the open cap 286. A flexible hose 264 for supplying high-pressure air is connected to the inlet 220a of the hollow outer shell 220. Although not shown, the flexible hose 264 is connected to a high-pressure air tank for storing high-pressure air or an air compressor for supplying high-pressure air.

[0074] The dispenser control unit 270 may include a microprocessor. Furthermore, the dispenser control unit 270 may include a flow control valve for controlling the flow rate supplied from a high-pressure air source to the flexible hose 262. The high-pressure air source may be a high-pressure air tank storing compressed air or an air compressor that compresses air to supply high-pressure air. The dispenser control unit 270 may control a three-way solenoid valve 252, an air compressor 260, and a flow control valve. The dispenser control unit 270 may control the operation of the three-way solenoid valve 252 to select a nozzle from a pair of nozzles 240, 242 for discharging the ultrasonic gel 30. The dispenser control unit 270 may control the flow control valve and control the flow rate of high-pressure air supplied from the hollow housing 220 to control the amount of ultrasonic gel 30 discharged through nozzle 240 onto the patient's skin surface. The dispenser control unit 270 may adjust the amount of ultrasonic gel 30 discharged onto the patient's skin surface according to the linear scanning speed of the ultrasonic probe 110.

[0075] Reference Figure 11If the distributor control device 270 opens the flow control valve located in the flexible hose 264, high-pressure air flows into the interior of the hollow housing 220 of the ultrasonic gel dispenser 210 through the inlet 220a. The high-pressure air flowing into the interior of the hollow housing 220 compresses and deforms the flexible ultrasonic gel container 230, discharging the ultrasonic gel 30 contained within it and supplying it to the nozzle 240 through the flexible hose 256. Alternatively, instead of supplying high-pressure air from a high-pressure air tank to the flexible hose 264, an air compressor 260 can be connected to the flexible hose 256, directly supplying the flexible hose 264 with compressed high-pressure air. In several embodiments, a syringe pump can be used instead of supplying high-pressure air as a structure for pressurizing the gel container 230 to control the discharge of the ultrasonic gel 30. The syringe pump advances the plunger towards the interior of the hollow housing 220 to pressurize and compress the gel container 230, thereby discharging the ultrasonic gel 30.

[0076] Reference Figure 1 The medical imaging system 10 of the present invention includes a computer 400, which is connected to a multi-axis robotic arm control device 310, an ultrasonic image generation device 120, a distributor control device 270 and a three-dimensional image capturing device 510, and is configured to send and receive data and control signals by being connected to a communication device 450.

[0077] The computer 400 includes an input device 420, a display 430, a memory 440 storing programs, and a processor 410 for implementing the programs stored in the memory 440. The input device 420 includes a keyboard, a mouse 424, etc. Furthermore, the computer 400 includes a communication device 450 for sending and receiving data and control signals with external devices. The communication device 450 can be a wired communication device or a wireless communication device. The memory 440 stores a three-dimensional shape data generation program 441, a probe path generation program 442, a robotic arm control program 443, an image acquisition control program 444, a distributor control program 445, and a camera control program 446. To acquire ultrasound images of a patient using the multi-axis robotic arm 300, the programs can be executed sequentially or simultaneously in the processor 410.

[0078] Computer 400 receives ultrasound scan area images of the patient from 3D image acquisition device 510 and processes the received images to generate 3D shape data of the ultrasound scan area. Based on this 3D shape data, computer 400 moves the ultrasound probe 110 mounted on the multi-axis robotic arm 300 to generate an ultrasound scanning path for acquiring ultrasound images. The ultrasound scanning path includes the movement path of the ultrasound probe 110, the ultrasound image acquisition position, the probe's posture, and its movement speed. Computer 400 also controls the multi-axis robotic arm control device 310, the ultrasound image generation device 120, and the dispenser control device 270 to discharge ultrasound gel 30 while the ultrasound probe 110 moves along the ultrasound scanning path, and simultaneously receives the ultrasound images acquired in the ultrasound image generation device 120. The computer 400 controls the robotic arm via the robotic arm control device 310 to execute the robotic arm control program 443, causing the ultrasonic probe 110 to perform parallel and / or rotational movements along the ultrasonic scanning paths L1, L2, ..., Ln, respectively. Simultaneously, the computer controls the operation of the ultrasonic probe 110 to execute the image acquisition control program 444 to acquire line scan data via the ultrasonic image generation device 120. The ultrasonic image generation device 120 transmits the line scan data acquired from the ultrasonic probe 110 to the computer device 400.

[0079] The following describes a method for scanning ultrasound images of a patient's ultrasound scanning area using a human ultrasound detection system equipped with the robot of the present invention.

[0080] Figure 12 This indicates the region A used for ultrasound scanning of the thyroid gland 22 of patient H and the line scan path L1, L2, L3, ... Ln of the ultrasound probe. Figure 13 This indicates the area A used for ultrasound scanning of the musculoskeletal structure 24 in the shoulder area of ​​patient H and the line scanning path L1, L2, L3, ... Ln of the ultrasound probe. Figure 14 and Figure 15 This is a schematic diagram illustrating the state of ultrasonic gel being supplied from a nozzle when using an ultrasonic probe to perform a line scan of the skin surface. Figure 16 This is a flowchart illustrating the multi-axis robotic arm-assisted ultrasound medical image acquisition method of the present invention.

[0081] Reference Figure 12 and Figure 13 The skin surface of the ultrasound scanning area A of patient H can be a three-dimensional curved surface. In this embodiment, the robotic arm 300 equipped with the ultrasound probe 110 is a 6-axis robotic arm capable of performing ultrasound scanning according to the three-dimensional curved surface shape.

[0082] Reference Figure 16When a user of system 10 wants to scan a patient's area with ultrasound, for example, on... Figure 12 thyroid region or Figure 13 When photographing the musculoskeletal region, firstly, the ultrasonic scanning area A is photographed using the 3D image capturing device 510 (step S100). The system user can view the image of the ultrasonic scanning area A on the computer 400 monitor. Furthermore, if a 3D camera is installed in the multi-axis robotic arm 300, the system user can move the multi-axis robotic arm 300 to the desired photographing position to obtain an image of the ultrasonic scanning area A.

[0083] Then, the computer 400 receives the image captured by the 3D image capturing device 510 and generates 3D shape data of the ultrasonic scanning area A relative to the origin of the robotic arm 300. The processor 410 executes the 3D shape data generation program 441, generating 3D shape data of the ultrasonic scanning area A with reference to the origin of the robotic arm 300. The generated 3D shape data of the ultrasonic scanning area A can display the skin surface of the ultrasonic scanning area A in a grid pattern, with the coordinates (x, y, z) of the grid points as reference to the origin of the robotic arm 300.

[0084] Then, as Figure 12 and Figure 13 As shown, the processor 410 of the computer 400 executes the probe path generation program 442 to generate line scanning paths L1, L2, and L3 for the probe 110 in the scanning area A. The ultrasonic scanning paths L1, L2, and L3 include the movement path of the ultrasonic probe 110, the position for acquiring ultrasonic images, the posture of the ultrasonic probe 110, and the movement speed.

[0085] Then, the processor 410 of the computer 400 simultaneously executes the robotic arm control program 443, the image acquisition control program 444, and the distributor control program 445, so that the robotic arm 300 equipped with the ultrasonic probe 110 moves along the scanning path L1, L2, L3, and simultaneously supplies ultrasonic gel 30 to the skin surface of the patient H to acquire ultrasonic images (steps S130, S140, and S150).

[0086] In several embodiments, the ultrasonic probe 110 is capable of acquiring line scan data at approximately 30 frames per second. The line scan data may include image data, probe position and orientation information. Furthermore, the line scan data may include the position information of the ultrasonic probe in three-dimensional shape data. The computer 400 may use an image acquisition control program 444 to generate multiple image frames containing image data of the line scan data and the position and orientation information of the ultrasonic probe.

[0087] Figure 14 and Figure 15 This shows the ultrasound scan of the thyroid region of patient H along path L1. (See reference...) Figure 14 The scanning path L1 is generated such that the end of the ultrasound probe 110 is spaced a predetermined distance G1 from the surface 20 of the patient's skin. In several embodiments, the coordinates of the scanning paths L1, L2, and L3 can be generated by forming a virtual scanning path using the surface coordinates of the three-dimensional shape of the ultrasound scanning area A, and adding a constant value G1 to the Z-direction coordinates. As the ultrasound probe 110 moves along the scanning path L1 in a nozzle 240 positioned in front of the ultrasound probe 110 in its direction of movement, ultrasound gel 30 is continuously supplied to the skin surface 20. Furthermore, the nozzle 240 is positioned such that the end of the nozzle 240 is further away from the patient's skin surface 20 than the end of the ultrasound probe 110. Therefore, if the ultrasound gel 30 is discharged, as shown, the ultrasound gel 30 accumulates in front of the ultrasound probe 110; if the ultrasound gel 30 is adequately supplied, the ultrasound gel 30 that has not come into contact with air enters the gap G1 between the skin surface 20 and the ultrasound probe 110, thereby obtaining a high-quality ultrasound image. In particular, it is best not to include air in the ultrasound gel 30. When air-free ultrasonic gel 30 is discharged from nozzle 240, or after discharge, air may be mixed in and supplied to the space between the ultrasonic probe and the skin surface. To prevent this, the nozzle is positioned close to the ultrasonic probe, and a new gel structure is required to be discharged into the interior of the previously discharged gel. By discharging new gel into the interior of the previously discharged gel, a gel balloon formed by the ultrasonic gel is created, and an effect similar to the movement of the end of the ultrasonic probe inside the ultrasonic gel balloon can be achieved. That is, an effect similar to ultrasonic detection in water can be achieved. To ensure that the ultrasonic gel continuously discharged from the nozzle is discharged into the interior of the previously discharged ultrasonic gel, it is best to position the end of the nozzle as close as possible to the end of the ultrasonic probe and to make the nozzle outlet as thin as possible. Preferably, the length of the nozzle should also be greater than the length of the ultrasonic probe, but it does not need to be too long or too short. For example, preferably, the length of the nozzle outlet is more than 2 / 3 and less than 3.5 / 3 of the length of the ultrasonic probe. In particular, in the membrane formed by the ultrasonic gel 30 between the end of the ultrasonic probe 110 and the skin surface, pressure based on the Reynolds equation is generated as the ultrasonic probe 110 moves, thereby achieving a light pressure effect on the skin surface, thus obtaining an effect similar to applying pressure directly to the skin surface using the ultrasonic probe 110.

[0088] Reference Figure 15The nozzle 240 is configured in an inverted funnel shape, allowing the ultrasonic gel 30 to diffuse further than the length of the ultrasonic probe 110 and be discharged onto the patient's skin surface 20. Figure 15 As shown, the scanning path L1 contains information about the tilt angle (θ3) of the ultrasonic probe 110 relative to the Z-axis.

[0089] Then, it is determined whether the scanning should end along the generated scanning paths L1, L2, L3 (step S160). If the ultrasonic scanning of all generated paths has not ended (in the case of N in step S160), steps S130, S140, and S150 are repeated. If the ultrasonic scanning of all generated paths has ended (in the case of Y in step S160), the processor 410 of the computer 400 stops the application of the ultrasonic gel, stops the acquisition of ultrasonic images, and restores the ultrasonic probe to the origin (step S170).

[0090] Figure 17 This is a schematic diagram of the ultrasound scan path for the right breast region of a patient. Figure 18 This is a schematic diagram illustrating the overlapping scan of the right breast area during ultrasound examination. Figure 19 This is a schematic diagram illustrating the extended image plane. Furthermore, Figure 20 A flowchart illustrating the method for forming the extended ultrasound image of the present invention.

[0091] Reference Figure 17 The skin surface of patient H's breast at area 26, which requires ultrasound scanning, has a three-dimensional curved shape. Furthermore, the linear array ultrasound probe is only about 4-5 cm long, making it impossible to obtain an ultrasound image of the entire breast area in a single scan. Even if the ultrasound probe were long enough, the three-dimensional curved shape of the skin surface means that some areas will not be fully coated with the ultrasound gel, making it difficult to obtain an ultrasound image of the entire breast area in a single scan.

[0092] Providing a cross-sectional ultrasound image of the entire breast can aid in the diagnosis of the patient's condition. To provide a cross-sectional ultrasound image of the entire breast, multiple cross-sectional images in the same plane can be synthesized. Using a multi-axis robotic arm, multiple ultrasound cross-sectional images can be acquired at the desired location, thus facilitating the synthesis of the expanded ultrasound images.

[0093] The following describes a method for scanning a skin surface that exhibits a three-dimensional curved shape to provide an expanded ultrasound image. The expanded ultrasound image, as a cross-sectional image located in the same plane that allows visualization of the thyroid gland, tendons, and the entire breast area, is an ultrasound image formed by synthesizing multiple image frames.

[0094] Figure 17 This indicates the scanning area A used for ultrasound scanning of the right breast 26 of patient H, and the line scan paths L1, L2, L3, L4, L5, and L6 displayed in the scanning area A. The line scan paths L1, L2, L3, L4, L5, and L6 are the paths used to move the ultrasound probe 110 mounted on the robotic arm 300 to obtain ultrasound images of the patient's breast. (Example...) Figure 17 As shown, the intervals between paths can be shorter than the length of the ultrasonic probe 110, meaning that when scanning along the scanning path using the ultrasonic probe 110, the acquired ultrasonic image frames can be superimposed. Furthermore, Figure 17 The extended image planes I1, I2, I3, and I4 are shown to be obtained by synthesizing ultrasound images acquired from ultrasound scanning paths L1, L2, L3, L4, L5, and L6.

[0095] Figure 18 and Figure 19 This is a schematic diagram representing the extended image plane I4. (See diagram below.) Figure 18 As shown, the intervals between the ultrasonic scanning paths are formed by overlapping ultrasonic probes 110. Furthermore, when the robotic arm is equipped with an ultrasonic gel supply device, as... Figure 18 As shown, the ultrasound probe 110 can generate an ultrasound scanning path at a predetermined distance G1 from the skin surface 26. In the absence of a robotic arm with an ultrasound gel supply device, the user applies ultrasound gel to the skin surface in advance, and the ultrasound scanning path generated by the computer can be generated in close contact with the skin surface.

[0096] Reference Figure 19 The extended image plane I4 can be represented by the following mathematical formula.

[0097] Mathematical formula 1:

[0098] Where r0 is the distance vector from the origin of the reference coordinate system of the robotic arm 300 to point P0 (X0, Y0, Z0) on the scanning path L4, and r is the distance vector at any position on the extended image plane I4. Furthermore, n is the normal vector of the extended image plane I4. Figure 18 and Figure 19As shown, in this embodiment, the extended image plane I4 is a plane parallel to the ZY plane.

[0099] The following is for reference Figures 1 to 3 and Figure 20 The method for acquiring extended ultrasound images is described.

[0100] like Figures 1 to 3 As shown, the extended ultrasound images can be acquired using the multi-axis robotic arm system of the present invention, which has an automatic ultrasonic gel dispensing device. Alternatively, extended ultrasound images can also be acquired using a multi-axis robotic arm system without an automatic ultrasonic gel dispensing device. In the absence of an automatic ultrasonic gel dispensing device, the user should apply the ultrasonic gel to the patient's skin surface beforehand.

[0101] First, the three-dimensional image capturing device 510 captures an ultrasound scan area A of the patient to obtain a three-dimensional image of the ultrasound scan area A (step S200).

[0102] Then, the computer 400 receives the ultrasonic scanning area image from the three-dimensional image capturing device 510 and executes the three-dimensional shape data generation program 441 to generate three-dimensional shape data of the ultrasonic scanning area (step S210).

[0103] Then, computer 400 generates extended image planes I1, I2, I3, and I4 for obtaining extended ultrasound images from the generated three-dimensional shape data (step S220). Depending on the organ being imaged, the extended ultrasound images have preferred intervals and angles. For example, when obtaining extended ultrasound images of the breast or thyroid gland, it is preferable to generate extended image planes perpendicular to the central axis of the ultrasound probe in a mutually parallel manner. Since the ultrasound image quality is excellent when the ultrasound probe is perpendicular to the skin surface, it is preferable that the extended image planes not only be perpendicular to the probe's path but also form a specified angle when the ultrasound probe's scanning path is curved. Figure 19 The extended image plane I4 shown is generated at specified intervals to be parallel to the ZY plane of the reference coordinate system of the robotic arm 300.

[0104] Then, the computer 400 executes the probe path generation program 442 to generate ultrasonic scanning paths L1, L2, L3, L4, L5, L6 for acquiring multiple ultrasonic image frames including overlapping areas of the extended image plane (step S230). When the multi-axis robotic arm system 300 is equipped with an automatic ultrasonic gel supply device, the ultrasonic scanning paths L1, L2, L3, L4, L5, L6 are generated such that the ultrasonic probe 110 is spaced a predetermined distance from the skin surface.

[0105] Then, the computer 400 controls the robotic arm 300 equipped with the ultrasonic probe 110 to move the ultrasonic probe 110 along the generated line scanning path L1, L2, L3, L4, L5, L6 to acquire multiple ultrasonic image frames (step S240).

[0106] The computer 400 can generate multiple image frames F1, F2, ..., Fn containing line scan data, position and orientation information of the ultrasonic probe, using the image acquisition control program 444. Each acquired ultrasonic image frame includes scanning path information L1 to L6 of the ultrasonic probe 110 during image acquisition, extended image plane information I1 to I4, position information, and orientation information of the ultrasonic probe. The position and orientation information of the ultrasonic probe can be displayed relative to the coordinate system of the multi-axis robotic arm. For example, it can be displayed relative to... Figure 15 The coordinates P (X, Y, X) of the end center point of the ultrasonic probe 110 and the tilt angles W (θ1, θ2, θ3) of the central axis CL of the ultrasonic probe 110 along each X, Y, Z axis.

[0107] When using a multi-axis robotic arm system 10 with an automatic ultrasonic gel supply device to acquire multiple ultrasonic image frames, a computer 400 can simultaneously control the multi-axis robotic arm, the ultrasonic probe mounted on the multi-axis robotic arm, and the ultrasonic gel supply device, and can acquire ultrasonic image frames. In this case, during the period when the ultrasonic probe 110 moves along the ultrasonic scanning path, such as Figure 14 and Figure 15 As shown, the computer 400 can eject ultrasonic gel 30 in front of the moving path of the ultrasonic probe 110 and simultaneously acquire ultrasonic images. In this case, the ultrasonic scanning path generated by the computer 400 is configured such that the end of the ultrasonic probe 110 is separated from the skin surface of the ultrasonic scanning area by a predetermined distance G1.

[0108] Then, the computer 400 selects from the acquired multiple ultrasound image frames the ultrasound image frames that correspond to the extended image planes I1 to I4 respectively (step S250). Figure 21 The diagram shows ultrasound image frames with different image paths selected corresponding to the extended image plane I4. Each ultrasound image frame includes path information L1 to L6, extended image plane information I4, and the position P and orientation information W of the ultrasound probe when capturing each ultrasound image.

[0109] Then, computer 400 synthesizes the overlapping portions of the selected multiple ultrasound image frames to generate an extended ultrasound image (step S260). Figure 22 The text shows the... Figure 21An extended ultrasound image is generated by synthesizing the individual ultrasound image frames shown. The synthesis of the extended ultrasound image can utilize the position and orientation information of the ultrasound probes and the overlap information of the paths contained in each ultrasound image frame. Alternatively, machine learning or numerical computation algorithms can be used to synthesize the extended ultrasound image. Computer 400 can execute an image processing program to generate an extended ultrasound image (or panoramic image) from the image frames. Furthermore, in order to execute the image processing program to generate a panoramic image, computer 400 can use a stitching algorithm to remove overlapping portions between image frames (e.g., L1, L2) captured on adjacent paths.

[0110] The embodiments described above are not intended to limit the scope of protection of this invention. In addition to the embodiments described herein, various modifications, alterations, or substitutions can be made by those skilled in the art within the scope of protection, and such modified embodiments should be understood to fall within the scope of this invention.

Claims

1. A method for acquiring extended ultrasonic images with robotic arm assistance, comprising a multi-axis robotic arm equipped with an ultrasonic probe, a computer, and a three-dimensional image capturing device to acquire extended ultrasonic images, characterized in that, The steps of using the three-dimensional image capturing device to capture images of the patient's ultrasound scanning area; The step of using the computer to receive an image of the ultrasonic scanning area from the three-dimensional image capturing device to generate three-dimensional shape data; The step of using the computer to generate an extended image plane for obtaining an extended ultrasonic image from the generated three-dimensional shape data; The step of using the computer to generate an ultrasonic scanning path for acquiring multiple ultrasonic image frames including the overlapping region of the extended image plane. The step of using the computer to control a robotic arm equipped with the ultrasonic probe, so that the ultrasonic probe moves along the generated ultrasonic scanning path to acquire multiple ultrasonic image frames. The step of using the computer to select the ultrasonic image frame corresponding to the extended image plane from the acquired multiple ultrasonic image frames. as well as The step of using the computer to synthesize the overlapping portions of selected multiple ultrasound image frames to generate an expanded ultrasound image.

2. The method for acquiring extended ultrasonic images with robotic arm assistance according to claim 1, characterized in that, The generated extended image plane and the generated ultrasonic scanning path are formed in a mutually perpendicular manner.

3. The method for acquiring extended ultrasonic images with robotic arm assistance according to claim 1, characterized in that, It also includes an ultrasonic gel supply device installed on the multi-axis robotic arm. The step of acquiring the plurality of ultrasonic image frames includes using the computer to control the multi-axis robotic arm, the ultrasonic probe mounted on the multi-axis robotic arm, and the ultrasonic gel supply device to discharge ultrasonic gel in front of the ultrasonic probe's movement path during the period when the ultrasonic probe moves along the ultrasonic scanning path, and to acquire ultrasonic images.

4. The method for acquiring extended ultrasonic images with robotic arm assistance according to claim 3, characterized in that, The ultrasound scanning path generated by the computer is configured such that the end of the ultrasound probe is spaced a predetermined distance (G1) from the surface of the ultrasound scanning area of ​​the patient.

5. The method for acquiring extended ultrasonic images with robotic arm assistance according to claim 1, characterized in that, The multiple ultrasonic image frames contain scanning path information of the ultrasonic probe, extended image plane information, and position and orientation information of the ultrasonic probe.

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