295 results about "RESPIRATORY MOVEMENTS" patented technology

The invention discloses a lung puncture navigation system for pneumology department, which relates to the technical field of lung puncture navigation and comprises a data collection module, a data processing module, a calculation module and a navigation module. The method has the advantages that the focus position can be accurately positioned in real time by collecting the lung image data and the respiratory movement data of the patient and utilizing calculation of respiratory compensation, the need of adjusting the position of a puncture needle for multiple times is avoided, the optimal puncture path can be calculated, and the puncture accuracy is improved. Therefore, intelligent biopsy puncture path planning can be carried out according to specific conditions of the patient, biopsy risks are reduced, focus position changes caused by respiratory movement can be accurately compensated through real-time respiratory compensation application, and it is ensured that navigation precision and biopsy effects are not affected by the respiratory movement.

The invention relates to the technical field of medical instrument control, in particular to a lung biopsy sampling needle stabilizing method and system based on dynamic respiration compensation. The stabilizing method comprises the following steps: acquiring a respiratory movement signal of a patient in real time through a multi-source biosensor, wherein the multi-source biosensor comprises an optical fiber strain sensor array, a diaphragm myoelectricity sensor and a respiratory airflow sensor which are deployed at the chest and abdomen. According to the method, millimeter-microsecond-level accurate and stable control over the lung biopsy sampling process is achieved by establishing a cooperation mechanism of a breathing phase-displacement nonlinear mapping model and a macro-micro composite driving framework. The biological rationality of displacement prediction is improved through deep coupling of multi-mode breathing signals, and the chest wall non-uniform deformation gradient is analyzed in space based on cross topology deployment of an optical fiber strain sensor in an intercostal space area in combination with cross-scale feature fusion of myoelectricity and airflow sensing.

The invention relates to the technical field of infant sleep nursing, solves the problem that in the prior art, the infant respiration frequency cannot be monitored in a non-contact mode, and provides a non-contact infant respiration monitoring method, device and equipment and a storage medium. The method comprises the following steps: acquiring multiple frames of real-time images in an infant sleep scene; monitoring the sleep state of the real-time image, and identifying a first target image when the infant enters the sleep state; performing image enhancement processing on the first target image, and outputting a second target image after respiratory movement enhancement; feature extraction is carried out on the second target image, and a target area related to infant respiration is recognized; according to the maximum likelihood criterion, the target area is processed, and infant respiration information is determined. The infant respiration is monitored in a non-contact mode, the accuracy of respiration frequency monitoring is improved through image collection, image enhancement processing and other modes, and intrusive monitoring on the infant is not needed.

The invention belongs to the technical field of medical image assistance, and particularly relates to an auxiliary stereo imaging system and method for a complex chest trauma operation. By integrating multi-modal image data, real-time three-dimensional space capture, dynamic correction and risk score driven view adjustment, accurate assistance of the thymotomy operation process is achieved, the accuracy and safety of the operation are improved, the operation risk and operation difficulty are remarkably reduced, and the operation efficiency is improved. By acquiring and processing multi-modal image data in real time, a high-precision three-dimensional anatomical structure model containing thymus tissues, a blood vessel network and nerve distribution can be constructed, a visual surgical navigation view is provided for a doctor, meanwhile, a dynamic correction technology is adopted, thymus displacement parameters caused by thoracic cavity respiratory movement of a patient are monitored in real time, and the thoracic cavity of the patient can be accurately and accurately positioned. And on the basis, the real-time three-dimensional space data is dynamically adjusted, so that the spatial synchronization of the image data and the anatomical structure is ensured, and the navigation error caused by respiratory movement is effectively avoided.

The invention discloses a method and equipment for predicting a tumor position under respiratory movement based on LSTM (Long Short Term Memory), and the method comprises the steps: collecting a 4DCT (4 Discrete Cosine Transform) image sequence of a tumor part of a plurality of patients under free respiration; based on the acquired 4DCT image sequence, extracting a movement track of a tumor centroid point position along with time change; sequentially inputting all tumor motion data points in each fixed time window on the motion trail into a CNN-Attention-LSTM model for offline training, wherein the CNN-Attention-LSTM model is used for predicting the tumor position at the next time; and in a radiotherapy stage, performing online real-time updating on the trained CNN-Attention-LSTM model by using the latest respiratory movement data of the current patient, and predicting the tumor position at the next time. The real-time position of the tumor is provided for the radiotherapy robot, the time delay of the whole system is compensated, and the tumor position tracking is accurately realized in real time.

The invention relates to the technical field of deep learning, and discloses a real-time dose monitoring and adjusting method and system for tumor radiotherapy, and the method comprises the steps: carrying out the real-time dose data collection of a treatment region, obtaining the surface dose distribution data and pH value change data, carrying out the respiratory movement feature recognition of a patient, and carrying out the recognition of the surface dose distribution data and the pH value change data; generating a respiratory movement feature set; performing four-dimensional space-time division, and constructing a dynamic dose distribution network; performing feature extraction and integration to obtain a fusion distribution feature set; inputting the fusion distribution feature set and the respiratory movement feature set into a preset dose distribution prediction model for real-time dose distribution prediction to obtain real-time dose distribution prediction data; according to the method, the original control parameters of the radiotherapy equipment are dynamically adjusted to obtain the target control parameters, multi-source heterogeneous data are integrated, an accurate dose distribution prediction model is constructed, and intelligent adjustment of the parameters of the radiotherapy equipment is realized.

The invention relates to the technical field of radiotherapy, in particular to a space-time compensation method and system for radiotherapy of pancreas respiratory movement variability, and the method comprises the steps: setting an infrared reflective mark point on the body surface of a patient, and obtaining a body surface three-dimensional CT image and an infrared camera real-time image under respiratory movement; establishing a pancreas three-dimensional model, a CTV target region model and a respiratory movement model; predicting body surface mark point displacement by adopting a long-short-term memory network algorithm and generating a respiration curve; determining a pancreas three-dimensional coordinate motion state; predicting lung motion by using optical flow motion estimation, and reversely solving a pancreas motion trail; determining the opening and closing states of the blades of the multi-blade collimator; according to the method, the mapping relation between lung movement and pancreatic movement is established through reverse mapping, an improved optical flow movement estimation algorithm and an LSTM network are adopted to predict respiratory movement, and the CTV leakage volume can be remarkably reduced to 0.4 cm from 2.1 cm of a traditional gating technology.

The invention discloses a radiofrequency ablation navigation device based on multi-modal image fusion. The device comprises a respiration sensor, an image reconstruction server, an interaction terminal and a processor. The respiration sensor is worn on a target object and used for collecting respiration data of the target object. The image reconstruction server is used for receiving the multi-modal image of the target object and reconstructing the multi-modal image into a three-dimensional model; the three-dimensional model comprises an organ geometric model, nerve distribution and a blood vessel network. And the interaction terminal is connected with the image reconstruction server and is used for marking a starting point and an ending point for the three-dimensional model. The processor is connected with the respiration sensor, the image reconstruction server and the interaction terminal; and the processor generates a predicted path output according to the respiration data and the three-dimensional model marking the starting point and the ending point. The method has the advantages that respiratory movement errors are accurately compensated, the nerve mistaken injury risk is reduced, and the operation safety is improved.

The invention discloses a non-contact sleep staging identification and structural analysis method and system, and belongs to the field of sleep monitoring. The method comprises the steps that thoracic physiological movement signals to be staging are obtained, and the thoracic physiological movement signals to be staging are a plurality of sleep segments and comprise thoracic respiratory movement signals and heartbeat movement signals of a human body; and inputting the thoracic physiological movement signal to be staging into a pre-trained neural network model to obtain a sleep staging recognition and structure analysis result output by the neural network model. The method has an accurate sleep structure parameter estimation capability, and is of great significance to sleep diagnosis; and meanwhile, the system is low in cost and convenient to use, does not generate any constraint and sleep influence on the user, can be applied to daily intelligent sleep monitoring, and has home health monitoring application value.

The invention discloses a device for tracking a tumor position in real time in radiotherapy, and solves the problems of delay and inaccuracy in a traditional tumor position prediction method through a multi-model fusion method combining a deep learning model and a mathematical prediction model. Different from a traditional prediction method depending on an in-vitro marker or iconography technology, the tumor position is predicted in real time by adopting a long-short-term memory network, and the change of the tumor position along with respiratory movement is accurately captured by utilizing the strong time sequence modeling capability of the long-short-term memory network. By introducing the mathematical prediction model to compensate the future position of the tumor, the method can effectively solve the prediction error caused by system delay, and ensures that rays can accurately irradiate the tumor area in dynamic tumor tracking radiotherapy, thereby improving the accuracy and treatment effect of radiotherapy.

The invention provides a dynamic compensation augmented reality surgical navigation system based on respiratory movement prediction, and the system comprises a medical image processing unit which is used for generating a lesion three-dimensional model and planning a puncture path; the respiratory motion prediction module is used for analyzing a three-dimensional displacement sequence of the registration marker through a time sequence feature extraction network and a long-distance dependence modeling network so as to predict a respiratory trajectory; the dynamic compensation AR module is used for constructing a three-dimensional deformation field based on respiration prediction data and updating an AR virtual path in real time; the mechanical arm cooperative control module is used for adjusting the laser pointing pose in real time according to the breathing prediction data and the dynamic AR path; a closed-loop data interaction architecture realizes real-time cooperation of respiration prediction, dynamic compensation and mechanical arm control.

The invention discloses an auxiliary renal puncture device for the nephrology department, and belongs to the technical field of renal puncture, the auxiliary renal puncture device comprises a sickbed, a plurality of supporting legs are fixedly arranged at the bottom of the sickbed, fixing plates are fixedly arranged on the two sides of the sickbed, and second sliding blocks are slidably connected to one sides of the two fixing plates; the breathing frequency and amplitude of a patient are captured in real time through an infrared breathing monitoring module, and displacement data generated by breathing of the kidney are accurately obtained in combination with motion sensing modules such as a lead screw encoder and a driving gear angle encoder. The intelligent control system drives the first stepping motor and the second stepping motor to adjust the position of the portal frame based on six-dimensional force sensor data of the force sensing module, meanwhile, the angle of the puncture needle is adjusted in real time through feedback of a mechanical arm joint encoder, and dynamic compensation of kidney respiratory movement is achieved. According to the mechanism, the puncture deviation caused by breathing can be controlled within the range of + / -0.5 mm, the puncture positioning precision is remarkably improved, and poor sample quality or operation risks caused by breathing movement are avoided.

The organ chip comprises a culture membrane and an actuating membrane, a first culture chamber, a second culture chamber, an actuating chamber and a perfusion channel are further formed in the organ chip, the culture membrane divides the first culture chamber and the second culture chamber, the perfusion channel is communicated with the first culture chamber, and the actuating chamber is communicated with the second culture chamber. A communication port of the perfusion channel and the first culture chamber faces the culture membrane, preferably directly faces the culture membrane, the perfusion channel is used for connecting an external air source, the actuating chamber separates the second culture chamber and the actuating chamber, and the actuating chamber can deform in response to a pressure change of the actuating chamber so as to conduct the pressure change between the actuating chamber and the second culture chamber; further, the culture membrane is deformed. The organ chip can more truly simulate the respiratory movement process of pulmonary alveoli and the multi-directional shear stress generated by gas to cells, and is beneficial to meeting the research requirements of respirator-related lung injury.

The invention discloses a real-time respiratory movement prediction and compensation method for thoracic and abdominal radiotherapy. A respiratory signal acquisition module, a respiratory movement prediction module, a body surface mark point position monitoring module, a body surface mark point displacement prediction module, a body surface mark point coordinate conversion module, a tumor target center point prediction module and a tumor target visualization module are included. The invention discloses a respiratory movement prediction system based on a causal convolutional network, and the system achieves the precise prediction of the position of a tumor target region in the future by collecting a respiratory waveform signal and a body surface mark point movement track of a patient in real time, extracting a periodic movement mode, and predicting the three-dimensional displacement of the tumor target region in 0.5-2 seconds in the future.

The invention provides a tumor target pose real-time tracking and predicting method and system, equipment and a medium. An abdominal respiration monitoring device of the system is used for detecting abdominal respiration deformation; the multi-channel array flexible acquisition sensor has deformability and is used for detecting back myoelectricity and pressure change signals; the body surface information acquisition device is used for acquiring chest and abdomen point cloud data of a human body; and the main controller is used for processing data acquired by the abdominal respiration monitoring device, the multi-channel array flexible acquisition sensor and the body surface information acquisition device to obtain a predicted position of an active tumor target region. In order to solve the problem of respiratory movement in the radiotherapy process, back pressure myoelectricity information, abdomen respiratory deformation information and binocular vision information respiratory movement evaluation are adopted, and a mapping relation from in-vitro movement to in-vivo tumor movement is constructed through in-vitro multi-modal data and 4D-CT information in combination with a big data model. And in-vivo tumor pose prediction and evaluation are realized.

The invention discloses a radiotherapy beam output control method, system, device and equipment and a medium, and relates to the technical field of radiotherapy control, and the method comprises the steps: obtaining the spatial position information of a patient body surface marking module in real time; wherein the marking module comprises a fluorescent marking ball, and the fluorescent marking ball is fixed in a breathing movement remarkable area of a patient; performing information conversion processing on the spatial position information according to a time axis direction to obtain target breathing state change information of the patient, and importing the target breathing state change information into a corresponding preset breathing standard normal form to check whether the target breathing state change information meets a radiotherapy treatment condition; and if the target breathing state change information meets the radiotherapy treatment condition, recommending a corresponding breathing gating window threshold value, and dynamically controlling the output of the radiotherapy beam according to the breathing gating window threshold value. The automatic monitoring of the breathing state change is realized, and the output of the radiotherapy beam is accurately controlled according to the monitoring result.

The invention discloses a liver, gall and pancreas clinical puncture sampling device in the technical field of medical instruments, which comprises a base, a mechanical arm is fixedly connected to the base, a puncture needle is arranged at the top end of the mechanical arm, a guide rail for mounting the puncture needle is fixedly connected to the top end of the mechanical arm, a pushing part is slidably matched with one side of the guide rail, and the puncture needle is fixedly connected with the pushing part. The base is further fixedly connected with a pump assembly and a fixed arm, the top end of the fixed arm is fixedly connected with a multi-mode integrated sensor, and the side wall of the fixed arm is fixedly connected with a controller. By integrating a plurality of functional layers, the puncture needle can achieve a plurality of functions in single puncture, the mechanical arm is controlled to guide the puncture process of the puncture needle and compensate respiratory movement displacement through model construction and displacement prediction of the controller, and bleeding stopping gel is sprayed in a self-adaptive mode through resistance borne during needle insertion, so that massive bleeding is avoided; therefore, the efficiency of the hepatobiliary pancreas puncture operation is improved, the possibility of tissue bleeding infection is reduced, and the painless treatment experience of a patient is improved.

The invention discloses a PET / MR (positron emission tomography / magnetic resonance) all-in-one machine-based dynamic attenuation correction and respiratory and cardiac dual motion correction method. The method comprises the following steps of: generating a dynamic mu graph of a respiratory cycle; mR cardiac function movie sequence scanning of the cardiac cycle; accurately segmenting the cardiac muscle; 6, performing tissue segmentation on the dynamic mu graph; clustering the PET data; pET data space-time registration is carried out; merging PET data of the same time phase; performing frame-by-frame dynamic attenuation correction; respiratory movement correction; correcting a partial volume effect; carrying out myocardial MR image space standardization on different time phases of the cardiac cycle; and carrying out spatial standardization on the myocardial PET image of different time phases in the cardiac cycle. According to the method, the mu graph of the respiration and cardiac cycles is reconstructed through time-phase sharing and is accurately registered with the PET data, so that the high-quality attenuation correction of the heart PET image is realized and the motion correction is completed at the same time.

A multiplanar motion management system to aid in administering non-invasive radiation therapies. The disclosed devices and techniques enable clinicians to accurately monitor the position and motion of the heart with respect to a reference situation of the simulation stage. In addition, information is provided about the respiratory phase of the patient as well as about possible drifts of the anatomical structures. This information can be used by the clinician to interrupt the radiation treatment manually when necessary. The information can also be used to automatically, and in real-time, provide the appropriate gating signals to the therapy machine. The disclosed system may be configured to cover all motion aspects required during a typical radiotherapy workflow with just one device, from patient setup (inter-fraction motion monitoring) to cardiac and respiratory motion monitoring during the treatment (intra-fraction motion monitoring).

The invention discloses a point cloud-driven thoracic cavity whole organ dynamic reconstruction and respiration monitoring method and system, and the method comprises the steps: constructing a three-dimensional geometric model corresponding to each target structure in a thoracic cavity based on the thoracic medical image data of a target object, and converting the three-dimensional geometric model into static point cloud data; driving the static point cloud data to perform dynamic deformation simulation in a respiratory cycle based on a respiratory movement rule of the target object to obtain dynamic point cloud data synchronized with a respiratory time phase; performing time-space synchronization association on the dynamic point cloud data and the electrical characteristic parameters, and constructing a digital twin thoracic cavity model; deploying a virtual sensing assembly which dynamically deforms along with the thoracic cavity in the digital twin thoracic cavity model, simulating and monitoring the dynamic breathing process of the target object, and generating a virtual physiological signal; and performing signal processing on the virtual physiological signal to obtain a dynamic reconstruction image reflecting respiratory movement. Continuous simulation of the full-breathing movement process is achieved, and the temporal-spatial resolution and diversity of a virtual database are improved.

The invention relates to the technical field of medical image information processing, discloses an ICG fluorescence image and MRCP three-dimensional model registration fusion display method and system, effectively solves the problems of deep biliary tract structure blurring and form distortion caused by liver tissue scattering effect in intraoperative fluorescence imaging, uses a preoperative model as anatomical prior, and improves the accuracy of the intraoperative fluorescence imaging. A viewpoint correlation optical path depth field is constructed through reverse ray tracing, a spatial variation point spread function is generated accordingly, physical reverse recovery of scattering halo in a fluorescence image is achieved, non-specific background noise such as vascular leakage is effectively inhibited in combination with topological gravitational constraint of a central skeleton, and the detection accuracy is improved. The real pipe diameter and the center line position of the deep bile duct are accurately recovered, non-rigid registration correction is performed on the three-dimensional model based on the recovered high-fidelity image, and projection errors caused by respiratory movement and soft tissue deformation are eliminated.

The hydrogel patch type respiratory gating magnetic resonance device comprises a respiratory gating patch, a pressure signal change receiver, a magnetic resonance main body and an image acquisition workstation, the respiratory gating patch is connected with the pressure signal change receiver; the pressure signal change receiver is connected with the magnetic resonance main body and transmits a pressure change signal to the magnetic resonance main body; the magnetic resonance main body is connected with the image acquisition work station, and the image acquisition work station processes, stores and displays acquired images. The hydrogel patch type respiratory gating magnetic resonance device is simple and feasible in structure, and is adaptive to most of magnetic resonance I (MR I) equipment at present; the device is wide in application range, can be used for patients of different age groups, and even can be used for animal MR examination; under the guidance of a trigger signal, a magnetic resonance main body performs data acquisition at a specific breathing phase so as to reduce artifacts and ambiguity caused by breathing movement, and for a patient needing an interventional operation under magnetic resonance, patch type respiratory gating is convenient for surgical operation and does not affect a surgical area.

The invention discloses an intraoperative pulmonary nodule positioning method and system based on fusion of a CT image and an endoscope video. The method comprises the following steps: firstly, constructing a three-dimensional lung model containing a pulmonary nodule position based on preoperative high-resolution CT data; generating a real-time lung surface model by using an endoscope video stream through a three-dimensional reconstruction technology during the operation; a feature point extraction and matching algorithm is adopted, and a non-rigid registration technology is combined to realize accurate registration of the preoperative model and the intraoperative dynamic model; projection display of pulmonary nodules in a real-time endoscope visual field is established through space coordinate mapping, and a dynamic compensation algorithm is developed to solve the problem of tissue deformation caused by respiratory movement and instrument operation. Meanwhile, the virtual nodule position is overlaid to an endoscope video picture through the augmented reality technology, and visual intraoperative navigation is provided for surgeons. The method effectively solves the technical bottleneck that a traditional method depends on a metal marker and cannot adapt to intraoperative tissue deformation and the like, and has clinical practical value.

A medical imaging method for detecting a movement and a magnetic resonance imaging system, wherein the method includes: receiving, through a plurality of channels, a plurality of original first time domain signals recording a movement of an object under examination; transforming, based on a plurality of respiratory frequency components as bases, the plurality of first time domain signals into a vector matrix including representations of phases; computing an eigenvector based on the vector matrix; transforming the first time domain signals into second time domain signals based on the eigenvector, and removing a maximum energy term related to a respiratory movement from the second time domain signals; and determining whether a portion of a non-respiratory body movement is detected, and determining to execute a sequence based on only a first time domain signal in which a portion of a non-respiratory body movement is not detected.

The invention relates to a CT-guided thoracic and abdominal puncture guiding method for reducing the influence of respiratory movement. The method comprises the following steps that S1, a respiratory movement curve of a target object in a free breathing state is obtained; s2, in the free breathing state of the target object, according to the breathing motion curve, controlling CT imaging equipment to scan the target tissue through breathing gating in the curve area of the target object, and obtaining a CT scanning image of the target object; s3, the CT image in the S2 is matched with the respiratory movement curve in the S1, and the marked curve serves as a reference curve of the puncture moment; s4, determining a body surface needle insertion position of the puncture target tissue according to the CT image obtained in S2; and S5, monitoring the respiratory movement of the target object during puncture, obtaining a respiratory movement curve, and when the respiratory movement curve is located at the target tissue image identification point in the reference movement curve in the S3, determining the puncture moment for the target tissue. According to the invention, the puncture accuracy can be improved.

The invention provides a 2D Gaussian-based skin surface three-dimensional reconstruction method and system under respiratory movement, and relates to the field of three-dimensional reconstruction, and the method comprises the steps: generating a target point cloud, and obtaining first data information; collecting first feature data information of respiratory movement corresponding to the skin; performing mapping processing to obtain second feature data information; superposing the first data information and the second feature data information, determining target data information, and obtaining a first overall representation model; mapping the first overall representation model to a camera coordinate system to obtain a second overall representation model; and performing rasterization rendering on the second overall representation model to obtain a target image. In the three-dimensional reconstruction process, the influence of respiratory movement on skin surface movement displacement is considered, and the problems that in current skin surface three-dimensional reconstruction, due to the influence of respiratory movement factors, large noise and measurement errors exist, and an image generated through skin surface three-dimensional reconstruction is not ideal are solved.

The invention provides a thoracic surgery respiratory training system and method, and the method comprises the steps: constructing a respiratory-physiological feature tensor through the time sequence change of a respiratory airflow parameter during respiratory training in combination with the fluctuation feature of blood oxygen saturation in the respiratory training process, and carrying out the space-time convolution fusion of the respiratory-physiological feature tensor and a chest respiratory movement track, obtaining a respiratory efficiency index; constructing a taboo risk vector based on the risk relationship map of the thoracic surgery postoperative complications and the electronic medical record of the target user, and generating a complication risk entropy of the target user under the current respiratory training according to the taboo risk vector in combination with the pain tolerance physiological data; and according to the respiratory efficiency index and the complication risk entropy, determining a dynamic adaptation margin of the target user to current respiratory training, and based on the dynamic adaptation margin, dynamically adjusting the training resistance of the self-adaptive resistance adjustment respiratory training device. By the adoption of the scheme, a multi-dimensional respiratory training feedback mechanism can be constructed to conduct self-adaptive adjustment on the training resistance.

The invention provides an organ chip, a lung organ model, a construction method and a simulation method, the organ chip comprises a culture membrane and an actuating membrane, the organ chip is further provided with a first culture chamber, a second culture chamber, an actuating chamber and a perfusion channel, the culture membrane separates the first culture chamber and the second culture chamber, the perfusion channel is communicated with the first culture chamber, and the actuating chamber is communicated with the second culture chamber. A communication port of the perfusion channel and the first culture chamber faces the culture membrane, preferably directly faces the culture membrane, the perfusion channel is used for connecting an external air source, the actuating chamber separates the second culture chamber and the actuating chamber, and the actuating chamber can deform in response to a pressure change of the actuating chamber so as to conduct the pressure change between the actuating chamber and the second culture chamber; further, the culture membrane is deformed. The organ chip can more truly simulate the respiratory movement process of pulmonary alveoli and the multi-directional shear stress generated by gas to cells, and is beneficial to meeting the research requirements of respirator-related lung injury.

The invention relates to the technical field of medical imaging, and discloses a peripheral lung cancer pleural invasion evaluation system based on ultrasonic targeted radiography, comprising: a double-frequency ultrasonic probe configured to independently work at different frequencies to realize depth imaging and high-resolution imaging of lung tissues and suitable for different types of lung lesions; the signal processing module can receive, analyze and process echo signals transmitted by the ultrasonic probe, generate images in real time and extract feature information; and the dynamic motion compensation module is used for automatically adjusting the emission time sequence and parameter setting of the ultrasonic signal based on the real-time breathing motion state of the patient. By adopting the design of the double-frequency ultrasonic probe and the core-shell structure, high-resolution imaging and depth detection of lung tissues are realized. By dynamically adjusting the thickness of the probe shell to be matched with the frequency, the system can adapt to complex tissue environments under different physiological conditions, and image definition and stability are ensured.

A respiratory motion plane alignment system and method based on ultrasound images is disclosed. The system acquires three-dimensional ultrasound images of respiratory organs at at least two different respiratory phases, calculates the motion direction of the respiratory organs based on the three-dimensional ultrasound images, controls and adjusts an ultrasound direction adjustment mechanism to align the scanning plane of the ultrasound probe with the motion direction of the respiratory organs, acquires a three-dimensional model image of the respiratory organs and multiple frames of real-time two-dimensional ultrasound images, performs registration between the multiple frames of real-time two-dimensional ultrasound images of the respiratory organs, and / or registers the three-dimensional model image and the multiple frames of real-time two-dimensional ultrasound images, acquires three-dimensional position data of a target point during respiratory motion, determines the tracking path of the ultrasound probe based on the three-dimensional position data of the target point during respiratory motion, and controls the ultrasound probe to move along the tracking path, thereby achieving long-term stable observation or tracking of target points in the respiratory organs.