Ultrasonic image position locating method and locating system thereof

Abstract

An ultrasonic image position locating method and a locating system thereof, and the locating method comprises the following steps: S1, acquiring an initial position of an ultrasonic probe (1); S2, activating the ultrasonic probe (1) to scan and acquire pose information of the ultrasonic probe (1) and an encoder (2); S3, according to the pose information, driving the encoder (2) to move relative to the ultrasonic probe (1) so that the initial position of the encoder (2) is aligned with the initial position of the ultrasonic probe (1), and obtaining initial position alignment information; S4, according to the initial position alignment information, activating an ultrasonic transducer to scan a target position, the encoder (2) receiving a scanning result of the target position to form an ultrasonic image, and by means of the initial position of the ultrasonic probe (1), locating the position of the ultrasonic image. In the locating method and system, by means of aligning the initial position of the ultrasonic probe with the initial position of the encoder, when the encoder generates the ultrasonic image, the position of the ultrasonic image can be positioned by means of the initial position of the ultrasonic probe, such that the effect of accurate positioning is achieved, and the accuracy of subsequent operations is improved.

Description

Ultrasonic image position positioning method and positioning system Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to a method for locating an ultrasonic image position and a positioning system thereof. Background Art

[0002] Endoscopic ultrasound has become increasingly popular in recent years. Using a miniature ultrasound probe, it can be used with an endoscope or an external sheath to enter the body's cavities. Ultrasound scans can then clearly display the internal and surrounding tissue structures of the cavity. This allows for locating lesions and surrounding tissues, observing the internal and boundary structures of lesions, and providing accurate location information and clear ultrasound images for subsequent biopsy punctures and related treatments.

[0003] When in use, the ultrasonic probe is used to send and receive ultrasonic waves to scan the target position. The encoder generates an ultrasonic image based on the scanning results and uses the encoder to locate the ultrasonic image. Specifically, the position of the ultrasonic image relative to the ultrasonic probe can only be located when the initial position of the encoder is consistent with the initial position of the ultrasonic probe. However, when scanning or rescanning after replacing the ultrasonic probe, the initial position of the encoder and the initial position of the ultrasonic probe will change relative to each other. Therefore, the position of the ultrasonic image obtained each time is inconsistent with the ultrasonic probe, and the position of the ultrasonic image cannot be located, as shown in Figures 1 and 2. Therefore, it is impossible to provide accurate position information for subsequent operations or the use of other instruments. Therefore, there is an urgent need for a method and system for locating the position of an ultrasonic image.

[0004] Summary of the Invention

[0005] The purpose of the present invention is to provide a method for positioning the position of an ultrasonic image and a positioning system thereof, which aligns and locks the initial position of the ultrasonic probe with the initial position of the encoder, so that the ultrasonic image position is positioned according to the initial position of the ultrasonic probe when the encoder forms an ultrasonic image, thereby achieving an accurate positioning effect.

[0006] To achieve the above object, the present invention provides a method for locating an ultrasonic image position, comprising:

[0007] Obtaining the initial position of the ultrasound probe;

[0008] Starting the ultrasonic probe to scan and obtain the position information of the ultrasonic probe and the encoder;

[0009] driving the encoder to move relative to the ultrasound probe according to the posture information to align an initial position of the encoder with an initial position of the ultrasound probe, and obtaining initial position alignment information;

[0010] According to the initial position alignment information, the ultrasonic transducer is started to scan the target position, the encoder receives the scanning result of the target position to form an ultrasonic image, and locates the ultrasonic image position through the initial position of the ultrasonic probe.

[0011] Optionally, when the initial position of the encoder is aligned with the initial position of the ultrasound probe, the side wall of the first contact piece on the encoder abuts against the side wall of the second contact piece on the ultrasound probe.

[0012] Optionally, the posture information includes misalignment information of the first contact member and the second contact member;

[0013] Acquiring misalignment information of the first contact member and the second contact member;

[0014] The encoder is driven to rotate relative to the ultrasonic probe according to the misalignment information, so that the side wall of the first contact member abuts against the side wall of the second contact member.

[0015] Optionally, the posture information includes abutment information of the free end of the first contact member and the free end of the second contact member;

[0016] Acquiring abutment information between the free end of the first contact piece and the free end of the second contact piece;

[0017] driving the encoder to rotate relative to the ultrasound probe according to the abutment information, so that the first contact member and the second contact member are misaligned;

[0018] Acquiring misalignment information of the first contact member and the second contact member;

[0019] driving the encoder to move closer to the ultrasound probe according to the misalignment information, obtaining a measured distance between the encoder and the ultrasound probe, and obtaining information when the measured distance is consistent with a preset distance;

[0020] According to information that the measured distance is consistent with the preset distance, the encoder is driven to rotate relative to the ultrasonic probe, so that the side wall of the first contact member abuts against the side wall of the second contact member.

[0021] To achieve the above-mentioned purpose, the present invention further provides an ultrasonic image position positioning system, which uses the ultrasonic image position positioning method to locate the ultrasonic image position. The positioning system includes a detachably connected ultrasonic probe and an encoder, as well as a first contact member and a second contact member, wherein:

[0022] The ultrasonic probe and the encoder are both provided with an initial position;

[0023] The first contact member and the second contact member are respectively provided on a side where the ultrasonic probe and the encoder are close to each other;

[0024] The rotation of the encoder will cause the second contact member to rotate closer to the first contact member. When the side wall of the first contact member abuts against the side wall of the second contact member, the initial position of the encoder is aligned with the initial position of the ultrasound probe, and the ultrasound probe and the encoder are locked with each other.

[0025] Optionally, it further includes a first driving unit and a second driving unit, wherein,

[0026] The driving end of the first driving part is connected to the second driving part, and the driving end of the second driving part is connected to the encoder, wherein the first driving part is used to drive the encoder to move closer to or away from the ultrasound probe through the second driving part, and the second driving part is used to drive the encoder to rotate relative to the ultrasound probe.

[0027] Optionally, it further includes an ultrasonic image display unit, which is connected to the encoder and is used to display the ultrasonic image formed by the encoder.

[0028] Optionally, the first contact member includes a first positive pole magnet rod and a first negative pole magnet rod, wherein,

[0029] The first positive pole magnet rod and the first negative pole magnet rod are both provided on the ultrasonic probe, and the first positive pole magnet rod and the first negative pole magnet rod are arranged opposite to each other;

[0030] The second contact member includes a second positive pole magnet rod and a second negative pole magnet rod, wherein,

[0031] The second positive pole magnet rod and the second negative pole magnet rod are both provided on the encoder, and the second positive pole magnet rod and the second negative pole magnet rod are arranged opposite to each other. When the initial position of the encoder is aligned with the initial position of the ultrasound probe, the first positive pole magnet rod and the second negative pole magnet rod conflict with each other, and the first negative pole magnet rod and the second positive pole magnet rod conflict with each other.

[0032] Optionally, it also includes a first clamping portion provided on the first positive pole magnet rod and / or the first negative pole magnet rod, and a second clamping portion provided on the second positive pole magnet rod and / or the second negative pole magnet rod. When the side wall of the first positive pole magnet rod conflicts with the side wall of the second negative pole magnet rod, the first clamping portion and the second clamping portion are mutually clamped to achieve locking of the encoder and the ultrasound probe.

[0033] Optionally, the free end of the first positive pole magnet rod or the first negative pole magnet rod is provided with an isolation portion, and when the free end of the first negative pole magnet rod is directly facing and abutting the free end of the second positive pole magnet rod, the isolation portion prevents the first positive pole magnet rod from contacting the second negative pole magnet rod.

[0034] The beneficial effects of the present invention are as follows:

[0035] In the present invention, by aligning and locking the initial positions of the ultrasonic probe and the encoder, when the encoder forms an ultrasonic image, the position of the ultrasonic image can be determined by the initial position of the ultrasonic probe, thereby achieving the effect of locating the position of the ultrasonic image, ensuring that the position of the ultrasonic image can be accurately located each time it is scanned or rescanned after replacing the ultrasonic probe, thereby providing accurate position information for subsequent operations or the use of other instruments. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] FIG1 is a schematic diagram of an ultrasound image formed by a first scan relative to a target position in the prior art;

[0037] FIG2 is a schematic diagram of an ultrasound image formed by a second scan relative to a target position in the prior art;

[0038] FIG3 is a system diagram of the method for locating the position of an ultrasonic image in the present invention;

[0039] FIG4 is a schematic diagram of the rotation angle of the encoder in the present invention;

[0040] FIG5 is a schematic structural diagram of a first embodiment of aligning the initial position of the encoder with the initial position of the ultrasonic probe in the present invention;

[0041] FIG6 is a schematic structural diagram of an ultrasonic probe in the present invention;

[0042] FIG7 is a schematic diagram of the initial position structure of the ultrasonic probe in the present invention;

[0043] FIG8 is a schematic structural diagram of the first driving unit and the second driving unit in the present invention;

[0044] FIG9 is a schematic structural diagram of a first embodiment of the present invention, wherein the first clamping portion and the second clamping portion are provided;

[0045] FIG10 is a schematic structural diagram of a second embodiment of the first clamping portion and the second clamping portion in the present invention;

[0046] FIG11 is a schematic structural diagram of the isolation portion of the present invention;

[0047] FIG12 is a schematic structural diagram of a control unit in the present invention;

[0048] FIG13 is a schematic structural diagram of a second embodiment of aligning the initial position of the encoder with the initial position of the ultrasonic probe in the present invention.

[0049] Figure 1: 1. Ultrasonic probe; 101. Rotating inner core; 102. Transducer; 2. Encoder; 3. First contact member; 31. First positive magnet rod; 32. First negative magnet rod; 4. Second contact member; 41. Second positive magnet rod; 42. Second negative magnet rod; 5. First driving part; 6. Second driving part; 7. First clamping part; 71. Annular clamping groove; 72. Groove; 8. Second clamping part; 81. Arc-shaped clamping plate; 82. Protrusion; 9. Isolation part; 10. Control part; 1001. Movable groove; 1002. First electrode contact piece; 1003. Second electrode contact piece; 1004. Elastic member; 11. Guide groove; 111. Arc-shaped surface; 112. Plane; 12. Guide rod; 121. Hemisphere. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. Unless otherwise defined, the technical terms or scientific terms used herein should be the common meanings understood by people with ordinary skills in the field to which the present invention belongs. The words "including" and similar words used in this article mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects.

[0051] In the prior art, the encoder 2 and the ultrasonic probe 1 cooperate to form an ultrasonic image, wherein the ultrasonic probe 1 can accurately calibrate the position of the target, and the encoder 2 forms an ultrasonic image based on the scanning result of the ultrasonic probe 1. When scanning multiple times or replacing the ultrasonic probe 1, the relative position of the encoder 2 and the ultrasonic probe 1 changes, so the position of the ultrasonic image obtained is uncertain each time, and thus it is impossible to provide accurate position information for subsequent operations or the use of other instruments. For example, when the 12 o'clock position of the ultrasonic probe 1 (matching the 12 o'clock position of the clock, the subsequent description is consistent and no longer repeated) is at the same level as the target When the 12 o'clock position of the encoder 2 is aligned with the 12 o'clock position of the ultrasonic probe 1, the target position can be located at the 12 o'clock position. If the 6 o'clock position of the encoder 2 is aligned with the 12 o'clock position of the ultrasonic probe 1 at this time, the target position will be at the 6 o'clock position in the generated ultrasonic image, not at the actual 12 o'clock position; similarly, during the second scan, assuming that the 3 o'clock position of the encoder 2 is aligned with the 12 o'clock position of the ultrasonic probe 1, the target position will be at the 3 o'clock position in the generated ultrasonic image, as shown in Figures 1 and 2. In this way, due to the relative change in the positions of the encoder 2 and the ultrasonic probe 1, the ultrasonic image cannot achieve the positioning effect.

[0052] In response to the problems existing in the prior art, an embodiment of the present invention provides a method for locating the position of an ultrasonic image. FIG3 is a system diagram of the method for locating the position of an ultrasonic image in the present invention. Referring to FIG3 , the method comprises the following steps: S1, obtaining the initial position of the ultrasonic probe 1 (which can be understood as the 12 o'clock position). The initial position of the ultrasonic probe 1 can be obtained by an optical instrument, or by self-scanning of the ultrasonic probe 1, or by observation by a staff member, but is not limited to the observation of the ultrasonic probe 1, the optical instrument, and the staff member; S2, starting the ultrasonic probe 1 to scan and obtain the posture information of the ultrasonic probe 1 and the encoder 2; S3, driving the encoder 2 to move relative to the ultrasonic probe 1 according to the posture information to achieve alignment between the initial position of the encoder 2 and the initial position of the ultrasonic probe 1, and obtaining initial position alignment information; S4, starting the ultrasonic transducer 102 to scan the target position according to the initial position alignment information, and the encoder 2 receives the scanning result of the target position to form an ultrasonic image, which is displayed on the ultrasonic image display unit; the ultrasonic image position is located by the initial position of the ultrasonic probe 1. In the present invention, the initial position of the encoder 2 is aligned with the initial position of the ultrasound probe 1, thereby achieving the effect of positioning the ultrasound image.

[0053] In one embodiment, the position information of the ultrasonic probe 1 and the encoder 2 can also be obtained by using the optical instrument.

[0054] In one embodiment, when the initial position of the encoder 2 is aligned with the initial position of the ultrasonic probe 1, the side wall of the first contact piece 3 on the encoder 2 abuts against the side wall of the second contact piece 4 on the ultrasonic probe 1. When the side wall of the first contact piece 3 and the side wall of the second contact piece 4 abut, the initial position of the encoder 2 can be aligned with the initial position of the ultrasonic probe 1; at the same time, it can also play a role of control reminder. Specifically, when the first contact piece 3 abuts against the second contact piece 4, the staff can be reminded that the initial position of the encoder 2 has been aligned with the initial position of the ultrasonic probe 1. The reminder process can be the vibration and sound generated when the first contact piece 3 and the second contact piece 4 contact, and it can also be the posture of controlling the encoder 2 to stop moving relative to the ultrasonic probe 1 when in contact.

[0055] In one embodiment, the encoder 2 is installed in the ultrasonic probe 1 along the horizontal direction. The installation process has the following two implementation methods:

[0056] In the first embodiment, the encoder 2 is successfully installed in the ultrasonic probe 1, and the first contact member 3 and the second contact member 4 are misaligned; at this time, the posture information includes the misalignment information of the first contact member 3 and the second contact member 4; the misalignment information of the first contact member 3 and the second contact member 4 is obtained; and according to the misalignment information, the encoder 2 is driven to rotate relative to the ultrasonic probe 1 so that the side wall of the first contact member 3 abuts against the side wall of the second contact member 4.

[0057] In a second embodiment, the encoder 2 is not successfully installed in the ultrasonic probe 1, that is, at this time the free end of the first contact member 3 abuts the free end of the second contact member 4; at this time, the posture information includes the abutment information of the free end of the first contact member 3 and the free end of the second contact member 4; the abutment information of the first contact member 3 and the second contact member 4 is obtained; according to the abutment information, the encoder 2 is driven to rotate relative to the ultrasonic probe 1 so that the first contact member 3 and the second contact member 4 are misaligned; the misalignment information of the first contact member 3 and the second contact member 4 is obtained; according to the misalignment information, the encoder 2 is driven to move closer to the ultrasonic probe 1, and the measured distance between the encoder 2 and the ultrasonic probe 1 is obtained, and the information when the measured distance is consistent with the preset distance is obtained; according to the information when the measured distance is consistent with the preset distance, the encoder 2 is driven to rotate relative to the ultrasonic probe 1 so that the side wall of the first contact member 3 abuts against the side wall of the second contact member 4.

[0058] In one example, the preset distance can be 1-3 mm, preferably the preset distance is 2 mm. The preset distance can be understood as the distance between the free end of the second contact member 4 and the ultrasonic probe 1. This setting can prevent a large gap between the ultrasonic probe 1 and the encoder 2, ensuring stability after installation, and at the same time avoid the impact of contact friction on the equipment.

[0059] In one embodiment, the first contact member 3 includes a first positive pole magnet rod 31 and a first negative pole magnet rod 32; the second contact member 4 includes a second positive pole magnet rod 41 and a second negative pole magnet rod 42. Therefore, when the encoder 2 is driven to rotate relative to the ultrasound probe 1 according to the misalignment information, the rotation process of the encoder 2 has the following implementation modes, specifically:

[0060] In a first embodiment, when the side wall of the first positive magnet rod 31 contacts the side wall of the second negative magnet rod 42 , and the side wall of the first negative magnet rod 32 contacts the side wall of the second positive magnet rod 41 , the encoder 2 rotates slightly or does not rotate at this time.

[0061] In a second embodiment, when the first positive magnet rod 31 is not in contact with the second negative magnet rod 42, and the first negative magnet rod 32 is not in contact with the second positive magnet rod 41, and the first positive magnet rod 31 is close to the second positive magnet rod 41, and the second negative magnet rod 42 is close to the first negative magnet rod 32, the encoder 2 is rotated counterclockwise, and the rotation angle is α, and the rotation angle α is between 0-180°, as shown in Figure 4.

[0062] In a third embodiment, when the first positive magnet rod 31 is not in contact with the second negative magnet rod 42, and the first negative magnet rod 32 is not in contact with the second positive magnet rod 41, and the first positive magnet rod 31 is close to the second negative magnet rod 42, and the second positive magnet rod 41 is close to the first negative magnet rod 32, the encoder 2 is rotated clockwise, and the rotation angle is b, and the rotation angle b is between 0-180°, as shown in Figure 4.

[0063] The present invention also provides an ultrasonic image position positioning system; Figure 5 is a structural schematic diagram of a first embodiment of the present invention in which the initial position of the encoder is aligned with the initial position of the ultrasonic probe; as shown in Figure 5, the ultrasonic image position positioning system adopts the ultrasonic image position positioning method to locate the ultrasonic image position, and the positioning system includes a detachably connected ultrasonic probe 1 and an encoder 2, as well as a first contact member 3 and a second contact member 4, wherein the ultrasonic probe 1 and the encoder 2 are both provided with an initial position, the first contact member 3 and the second contact member 4 are respectively provided on the side where the ultrasonic probe 1 and the encoder 2 are close to each other, and the rotation of the encoder 2 will drive the second contact member 4 to rotate closer to the first contact member 3, and when the side wall of the first contact member 3 abuts the side wall of the second contact member 4, the initial position of the encoder 2 is aligned with the initial position of the ultrasonic probe 1, and the ultrasonic probe 1 and the encoder 2 are locked with each other.

[0064] Figure 6 is a schematic structural diagram of the ultrasonic probe in the present invention; Figure 7 is a schematic structural diagram of the initial position of the ultrasonic probe in the present invention; referring to Figures 6 and 7, the ultrasonic probe 1 includes a rotating inner core 101 and a transducer 102, wherein the transducer 102 is provided with an initial position, as shown in Figure 7, and the positions of the rotating inner core 101 and the transducer 102 are relatively fixed.

[0065] Figure 8 is a structural schematic diagram of the first driving unit and the second driving unit in the present invention; as shown in Figure 8, the ultrasonic image position positioning system also includes a first driving unit 5 and a second driving unit 6, wherein the driving end of the first driving unit 5 is connected to the second driving unit 6, and the driving end of the second driving unit 6 is connected to the encoder 2, wherein the first driving unit 5 is used to drive the encoder 2 to move closer to or away from the ultrasonic probe 1 through the second driving unit 6, and the second driving unit 6 is used to drive the encoder 2 to rotate relative to the ultrasonic probe 1.

[0066] In one embodiment, the first driving unit 5 can be a driving cylinder or a combination of a motor, a lead screw, and a nut. Of course, in other embodiments, the first driving unit 5 is not limited to the combination of a driving cylinder, a motor, a lead screw, and a nut. The second driving unit 6 can be a motor, but is not limited to such a motor.

[0067] In one embodiment, the ultrasonic image positioning system further includes an ultrasonic image display unit (not shown), which is connected to the encoder 2 and is configured to display the ultrasonic image generated by the encoder 2. During use, the ultrasonic image display unit is configured to display the ultrasonic image, thereby enabling the user to more intuitively observe the ultrasonic image.

[0068] In one embodiment, the first contact member 3 includes a first positive pole magnet rod 31 and a first negative pole magnet rod 32, wherein the first positive pole magnet rod 31 and the first negative pole magnet rod 32 are both provided on the ultrasonic probe 1, and the first positive pole magnet rod 31 and the first negative pole magnet rod 32 are arranged opposite each other. The second contact member 4 includes a second positive pole magnet rod 41 and a second negative pole magnet rod 42, wherein the second positive pole magnet rod 41 and the second negative pole magnet rod 42 are both provided on the encoder 2, and the second positive pole magnet rod 41 and the second negative pole magnet rod 42 are arranged opposite each other. When the initial position of the encoder 2 is aligned with the initial position of the ultrasonic probe 1, the first positive pole magnet rod 31 and the second negative pole magnet rod 42 collide with each other, and the first negative pole magnet rod 32 and the second positive pole magnet rod 41 collide with each other, as shown in FIG6 . It should be noted that the first positive pole magnet rod 31, the first negative pole magnet rod 32, the second positive pole magnet rod 41 and the second negative pole magnet rod 42 in this embodiment satisfy the principle that like poles repel and opposite poles attract. When in use, the initial position of the encoder 2 is aligned with the initial position of the ultrasound probe 1, and the encoder 2 and the ultrasound probe 1 are locked by the contact and attraction between the side walls of the first positive pole magnet rod 31 and the side walls of the second negative pole magnet rod 42, as well as the contact and attraction between the side walls of the first negative pole magnet rod 32 and the side walls of the second positive pole magnet rod 41.

[0069] It should be noted that the first contact member 3 is not limited to the first positive pole magnet rod 31 and the first negative pole magnet rod 32 ; the second contact member 4 is not limited to the second positive pole magnet rod 41 and the second negative pole magnet rod 42 .

[0070] Of course, in another example, each of the first contact member 3 and the second contact member 4 comprises only a single magnet rod, and the magnetism of the two magnet rods is opposite, so that the mutual attraction of the two magnet rods can also achieve the effect of locking and initial position alignment of the ultrasonic probe 1 and the encoder 2. In another example, the first contact member 3 comprises two rods, one of which is a magnet rod with a positive magnetic pole; and the second contact member 4 comprises two rods, one of which is a magnet rod with a negative magnetic pole, so that the locking effect can also be achieved through magnetic attraction.

[0071] In one embodiment, the ultrasonic image position positioning system further includes a first clamping portion 7 provided on the first positive pole magnet rod 31 and / or the first negative pole magnet rod 32, and a second clamping portion 8 provided on the second positive pole magnet rod 41 and / or the second negative pole magnet rod 42. When the side wall of the first positive pole magnet rod 31 and the side wall of the second negative pole magnet rod 42 collide with each other, the first clamping portion 7 and the second clamping portion 8 engage with each other to achieve locking of the encoder 2 and the ultrasonic probe 1. In this embodiment, when the first clamping portion 7 and the second clamping portion 8 are used to achieve locking, the first contact member 3 may not need the first positive pole magnet rod 31 and the first negative pole magnet rod 32, and the second contact member 4 may not need the second positive pole magnet rod 41 and the second negative pole magnet rod 42. For example, metal rods or rubber rods that are both non-magnetic may be selected.

[0072] In one example, the first positive magnet rod 31 and the first negative magnet rod 32 are both provided with a first clamping portion 7, and the second positive magnet rod 41 and the second negative magnet rod 42 are both provided with a second clamping portion 8; in another example, the first positive magnet rod 31 or the first negative magnet rod 32 is provided with a first clamping portion 7, and the second positive magnet rod 41 or the second negative magnet rod 42 is provided with a second clamping portion 8, and the first clamping portion 7 and the second clamping portion 8 are matched with each other. For example, when the first positive magnet rod 31 is provided with the first clamping portion 7, the second negative magnet rod 42 is provided with the second clamping portion 8.

[0073] Of course, in other embodiments, the first positive magnet rod 31 is provided with the first clamping portion 7, and the first negative magnet rod 32 is provided with the second clamping portion 8; to achieve matching and locking engagement between the first clamping portion 7 and the second clamping portion 8, the second clamping portion 8 is provided on the second negative magnet rod 42, and the first clamping portion 7 is provided on the second positive magnet rod 41. Alternatively, the first positive magnet rod 31 is provided with the second clamping portion 8, and the first negative magnet rod 32 is provided with the first clamping portion 7; to achieve matching and locking engagement between the first clamping portion 7 and the second clamping portion 8, the first clamping portion 7 is provided on the second negative magnet rod 42, and the second clamping portion 8 is provided on the second positive magnet rod 41.

[0074] Figure 9 is a schematic structural diagram of a first embodiment of the first clamping portion and the second clamping portion in the present invention; in the example of Figure 9, the first clamping portion 7 is provided on the first positive pole magnet rod 31, and the second clamping portion 8 is provided on the first negative pole magnet rod 32. The first clamping portion 7 is an annular clamping groove 71, and the second clamping portion 8 is an arc-shaped clamping plate 81. When in use, the arc-shaped clamping plate 81 is clamped in the annular clamping groove 71. It should be noted that the opening formed by the arc-shaped clamping plate 81 is smaller than the diameter of the annular clamping groove 71, and the arc-shaped clamping plate 81 is made of elastic material.

[0075] FIG10 is a schematic structural diagram of a second embodiment of the first clamping portion and the second clamping portion of the present invention. In the example of FIG10 , the first clamping portion 7 is provided on the first positive pole magnet rod 31, and the second clamping portion 8 is provided on the first negative pole magnet rod 32. The first clamping portion 7 is a groove 72, and the second clamping portion 8 is a protrusion 82. When the side wall of the first positive pole magnet rod 31 contacts the side wall of the second negative pole magnet rod 42, the protrusion 82 is provided in the groove 72, thereby achieving locking of the first positive pole magnet rod 31 and the second negative pole magnet rod 42. Preferably, the cavity of the groove 72 is a spherical structure, the protrusion 82 is a spherical structure, and the opening size of the groove 72 is smaller than the diameter of the protrusion 82. In one example, the protrusion 82 is made of rubber, but is not limited to rubber.

[0076] Figure 11 is a structural schematic diagram of the isolation part of the present invention; as shown in Figure 11, the free end of the first positive pole magnet rod 31 or the first negative pole magnet rod 32 is provided with an isolation part 9. When the free end of the first negative pole magnet rod 32 is directly in contact with the free end of the second positive pole magnet rod 41, the isolation part 9 prevents the first positive pole magnet rod 31 and the second negative pole magnet rod 42 from contacting each other. The setting of the isolation part 9 can play an isolation role, preventing the problem that the encoder 2 cannot rotate relative to the ultrasound probe 1 due to excessive suction.

[0077] In one embodiment, the isolation portion 9 is a rubber rod, which is provided on the first positive pole magnet rod 31 or the first negative pole magnet rod 32 (which can be understood as being provided on the free end). When the rubber rod is provided on the first positive pole magnet rod 31, the overall length of the first positive pole magnet rod 31 is longer than the length of the first negative pole magnet rod 32. When the free end of the first positive pole magnet rod 31 abuts the free end of the second negative pole magnet rod 42, due to the presence of the rubber rod, the free end of the first negative pole magnet rod 32 does not contact the free end of the second positive pole magnet rod 41. In this way, there is only suction between the free end of the first positive pole magnet rod 31 and the free end of the second negative pole magnet rod 42, and there is no suction between the free end of the first negative pole magnet rod 32 and the free end of the second positive pole magnet rod 41, so that the encoder 2 can rotate relative to the ultrasound probe 1.

[0078] In one embodiment, the isolation portion 9 is a rubber sleeve, and the rubber sleeve is provided outside the free end of the first positive pole magnet rod 31 and the free end of the second negative pole magnet rod 42. In this way, when the free end of the first positive pole magnet rod 31 abuts the free end of the second negative pole magnet rod 42, and the free end of the first negative pole magnet rod 32 abuts the free end of the second positive pole magnet rod 41, due to the presence of the rubber sleeve, the free end of the first positive pole magnet rod 31 and the free end of the second negative pole magnet rod 42, as well as the free end of the first negative pole magnet rod 32 and the free end of the second positive pole magnet rod 41 can be avoided from directly abutting each other, so that the magnetic attraction can be weakened by the rubber sleeve, ensuring that the encoder 2 and the ultrasonic probe 1 can rotate relative to each other.

[0079] Of course, in other embodiments, the rubber sleeve can be provided on the free end of the second negative pole magnet rod 42 and the free end of the second positive pole magnet rod 41; the rubber rod can be provided on the free end of the second negative pole magnet rod 42 or the free end of the second positive pole magnet rod 41.

[0080] Figure 12 is a schematic structural diagram of the control unit in the present invention; as shown in Figure 12, the control unit 10 is provided on the encoder 2 and the second contact member 4, or the control unit 10 is provided on the ultrasonic probe 1 and the first contact member 3; in an example, the control unit 10 is provided on the ultrasonic probe 1 and the first contact member 3, and the control unit 10 is matched with the first positive pole magnet rod 31 or the first negative pole magnet rod 32. Further, the control unit 10 is matched with the first positive pole magnet rod 31. Specifically, the control unit 10 includes a The movable slot 1001 is provided, and the first positive pole magnet rod 31 is movably provided in the movable slot 1001. The control unit 10 further includes a first electrode contact piece 1002, a second electrode contact piece 1003 and an elastic member 1004, wherein the first electrode contact piece 1002 is provided on the first positive pole magnet rod 31, and the second electrode contact piece 1003 is provided on the wall of the movable slot 1001. The first electrode contact piece 1002 and the second electrode contact piece 1003 are matched with each other, and the two ends of the elastic member 1004 are respectively provided on the wall of the movable slot 1001 and the first positive pole magnet rod 31.

[0081] During use, when the free end of the first positive magnet rod 31 abuts the free end of the second positive magnet rod 41 or the free end of the second negative magnet rod 42, the abutting force causes the first positive magnet rod 31 to move into the movable slot 1001. This movement of the first positive magnet rod 31 causes the first electrode contact 1002 to move in the direction of the second electrode contact 1003. When the second electrode contact 1003 contacts the first electrode contact 1002, the series circuit is connected, activating the second drive unit 6 to rotate the encoder 2 relative to the ultrasound probe 1. This embodiment eliminates the need to obtain abutment information when the free end of the first positive magnet rod 31 abuts the free end of the second positive magnet rod 41 or the free end of the second negative magnet rod 42. This reduces the number of operating steps and improves operational efficiency while also achieving intelligent control. Specifically, the control unit 10 enables intelligent control of the encoder 2 relative to the ultrasound probe 1 when abutment occurs, thereby enhancing the intelligence of the device.

[0082] In one embodiment, the elastic member 1004 can be a reset spring and a telescopic assembly, wherein the telescopic assembly includes a telescopic rod, a telescopic tube and a telescopic spring, the telescopic rod is movably inserted into the telescopic tube, the telescopic spring is wound and arranged outside the telescopic rod, and the two ends of the telescopic spring are respectively fixedly connected to the side wall of the telescopic rod and the outer side wall of the telescopic tube.

[0083] Figure 13 is a structural schematic diagram of the second embodiment of the present invention for aligning the initial position of the encoder with the initial position of the ultrasonic probe; as shown in Figure 13, the second embodiment of the alignment of the initial position of the encoder 2 with the initial position of the ultrasonic probe 1 specifically adopts a mechanical structure alignment method, including a guide groove 11 provided on the encoder 2 or the ultrasonic probe 1, and a guide rod 12 provided on the ultrasonic probe 1 or the encoder 2, and the guide groove 11 is matched with the guide rod 12; in an example, the guide rod 12 is provided on the encoder 2, and the guide groove 11 is provided on the ultrasonic probe 1; during use, when the encoder 2 moves toward the ultrasonic probe 1, the guide rod 12 will enter the guide groove 11, and as the movement continues, the guide groove 11 will guide the guide rod 12 to rotate with the encoder 2, so as to achieve the alignment of the initial position of the encoder 2 with the initial position of the ultrasonic probe 1.

[0084] In one embodiment, the guide groove 11 includes an arcuate surface 111 and a flat surface 112, wherein the arcuate surface 111 is made of a non-magnetic material and the flat surface 112 is made of a magnetic material; the free end of the guide rod 12 (which can be understood as the end away from the encoder 2 or the ultrasonic probe 1) is made of a magnetic material; the arcuate surface 111 guides the movement of the guide rod 12 and guides the guide rod 12 to move to the flat surface 112, and under the action of magnetic attraction, the flat surface 112 and the guide rod 12 are adsorbed together, thereby locking the encoder 2 and the ultrasonic probe 1 together. Of course, in other examples, the flat surface 112 and the guide rod 12 can also be made of non-magnetic materials. In this case, in order to lock the encoder 2 and the ultrasonic probe 1, a first clamping portion 7 is required to be provided on the flat surface 112, and a second clamping portion 8 is provided on the guide rod 12. The second clamping portion 8 cooperates with the first clamping portion 7 to achieve locking of the encoder 2 and the ultrasonic probe 1. Furthermore, the structure of the second clamping portion 8 and the first clamping portion 7 is consistent with the structure in the first embodiment in which the initial position of the encoder 2 is aligned with the initial position of the ultrasound probe 1 , and will not be described in detail here.

[0085] In one embodiment, a plurality of guide grooves 11 are provided, and the plurality of guide grooves 11 are arranged in a ring shape on the ultrasonic probe 1; the free end of the guide rod 12 is provided with a hemispherical 121 structure, but is not limited to the hemispherical 121 structure, for example, it can be a conical structure; this arrangement enables the guide rod 12 to accurately enter the guide groove 11.

[0086] In one embodiment, the number of the guide rods 12 can be set to 1, 2, 3 or more. Preferably, the number of the guide rods 12 is 2.

[0087] While the embodiments of the present invention have been described in detail above, it will be apparent to those skilled in the art that various modifications and variations of these embodiments are possible. However, it should be understood that such modifications and variations are within the scope and spirit of the present invention as set forth in the claims. Furthermore, the invention described herein is susceptible to other embodiments and may be practiced or implemented in a variety of ways.

Claims

1. A method for locating an ultrasonic image, characterized in that: include, Obtaining the initial position of the ultrasound probe; Starting the ultrasonic probe to scan and obtain the position information of the ultrasonic probe and the encoder; Driving the encoder to move relative to the ultrasound probe according to the posture information to align an initial position of the encoder with an initial position of the ultrasound probe, and acquiring initial position alignment information; According to the initial position alignment information, the ultrasonic transducer is started to scan the target position, the encoder receives the scanning result of the target position to form an ultrasonic image, and locates the ultrasonic image position through the initial position of the ultrasonic probe.

2. The positioning method according to claim 1, characterized in that: When the initial position of the encoder is aligned with the initial position of the ultrasonic probe, the side wall of the first contact piece on the encoder abuts against the side wall of the second contact piece on the ultrasonic probe.

3. The positioning method according to claim 2, characterized in that: The position information includes misalignment information of the first contact member and the second contact member; Acquiring misalignment information of the first contact member and the second contact member; According to the misalignment information, the encoder is driven to rotate relative to the ultrasonic probe, so that the side wall of the first contact member abuts against the side wall of the second contact member.

4. The positioning method according to claim 2, characterized in that: The posture information includes abutment information of the free end of the first contact member and the free end of the second contact member; Acquiring abutment information of the free end of the first contact piece and the free end of the second contact piece; driving the encoder to rotate relative to the ultrasonic probe according to the abutment information so that the first contact member and the second contact member are misaligned; Acquiring misalignment information of the first contact member and the second contact member; According to the misalignment information, the encoder is driven to move closer to the ultrasonic probe, and the measured distance between the encoder and the ultrasonic probe is obtained, and information when the measured distance is consistent with the preset distance is obtained; According to the information that the actually measured distance is consistent with the preset distance, the encoder is driven to rotate relative to the ultrasonic probe so that the side wall of the first contact member abuts against the side wall of the second contact member.

5. An ultrasonic image position positioning system, which uses the ultrasonic image position positioning method according to any one of claims 1 to 4 to position the ultrasonic image, characterized in that: The positioning system comprises a detachably connected ultrasonic probe and an encoder, and a first contact member and a second contact member, wherein: The ultrasonic probe and the encoder are both provided with an initial position; The first contact member and the second contact member are respectively arranged on a side where the ultrasonic probe and the encoder are close to each other; The rotation of the encoder causes the second contact piece to rotate toward the first contact piece. When the side wall of the first contact piece abuts against the side wall of the second contact piece, the initial position of the encoder is aligned with the initial position of the ultrasonic probe, and the ultrasonic probe and the encoder are locked with each other.

6. The positioning system according to claim 5, characterized in that: It also includes a first driving unit and a second driving unit, wherein: The driving end of the first driving part is connected to the second driving part, and the driving end of the second driving part is connected to the encoder, wherein the first driving part is used to drive the encoder to move closer to or away from the ultrasound probe through the second driving part, and the second driving part is used to drive the encoder to rotate relative to the ultrasound probe.

7. The positioning system according to claim 5, characterized in that: It also includes an ultrasonic image display unit, which is connected to the encoder and is used to display the ultrasonic image formed by the encoder.

8. The positioning system according to claim 6 or 7, characterized in that: The first contact member includes a first positive pole magnet rod and a first negative pole magnet rod, wherein: The first positive pole magnet rod and the first negative pole magnet rod are both arranged on the ultrasonic probe, and the first positive pole magnet rod and the first negative pole magnet rod are arranged opposite to each other; The second contact member includes a second positive pole magnet rod and a second negative pole magnet rod, wherein: The second positive pole magnet rod and the second negative pole magnet rod are both arranged on the encoder, and the second positive pole magnet rod and the second negative pole magnet rod are arranged opposite to each other. When the initial position of the encoder is aligned with the initial position of the ultrasound probe, the first positive pole magnet rod conflicts with the second negative pole magnet rod, and the first negative pole magnet rod and the second positive pole magnet rod are in contact with each other. The pole magnets collide.

9. The positioning system according to claim 8, characterized in that: It also includes a first clamping portion provided on the first positive pole magnet rod and / or the first negative pole magnet rod, and a second clamping portion provided on the second positive pole magnet rod and / or the second negative pole magnet rod. When the side wall of the first positive pole magnet rod conflicts with the side wall of the second negative pole magnet rod, the first clamping portion and the second clamping portion are mutually clamped to achieve locking of the encoder and the ultrasonic probe.

10. The positioning system according to claim 9, characterized in that: The free end of the first positive magnet rod or the first negative magnet rod is provided with a separation portion, and when the free end of the first negative magnet rod abuts against the free end of the second positive magnet rod, the separation portion prevents the first positive magnet rod from contacting the second negative magnet rod.

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