CN101564304B - Method and equipment for standardized and precise ultrasound scanning - Google Patents
Method and equipment for standardized and precise ultrasound scanning Download PDFInfo
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- CN101564304B CN101564304B CN 200910077202 CN200910077202A CN101564304B CN 101564304 B CN101564304 B CN 101564304B CN 200910077202 CN200910077202 CN 200910077202 CN 200910077202 A CN200910077202 A CN 200910077202A CN 101564304 B CN101564304 B CN 101564304B
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- 238000002604 ultrasonography Methods 0.000 title claims abstract description 39
- 238000000034 method Methods 0.000 title claims abstract description 35
- 239000000523 sample Substances 0.000 claims description 129
- 238000006073 displacement reaction Methods 0.000 claims description 21
- 238000012545 processing Methods 0.000 claims description 12
- 238000003909 pattern recognition Methods 0.000 claims description 8
- 230000001915 proofreading effect Effects 0.000 claims description 8
- 230000003068 static effect Effects 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 2
- 230000001105 regulatory effect Effects 0.000 claims description 2
- 210000000481 breast Anatomy 0.000 description 66
- 230000002146 bilateral effect Effects 0.000 description 61
- 210000001519 tissue Anatomy 0.000 description 42
- 210000005075 mammary gland Anatomy 0.000 description 19
- 230000007850 degeneration Effects 0.000 description 16
- 238000012937 correction Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 210000002445 nipple Anatomy 0.000 description 3
- 238000012552 review Methods 0.000 description 3
- 206010049244 Ankyloglossia congenital Diseases 0.000 description 2
- 208000014347 autosomal dominant hyaline body myopathy Diseases 0.000 description 2
- 238000010408 sweeping Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
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- 238000005859 coupling reaction Methods 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 238000002224 dissection Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000010606 normalization Methods 0.000 description 1
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- 238000011002 quantification Methods 0.000 description 1
- 210000004872 soft tissue Anatomy 0.000 description 1
Images
Abstract
The invention relates to a method and equipment for standardized and precise ultrasound scanning which comprises following steps of: fixing a measured object, choosing a scanning reference point, correcting a scanning reference coordinate, fixing the scanning scope, scanning the measured object and forming scanning image data.
Description
Technical field
The present invention relates to a kind of method and apparatus that carries out ultrasonic scan, especially carry out the method and apparatus of standardized and precise ultrasound scanning.
Background technology
Ultrasonic check result and picture quality also are subjected to the influence of doctor's maneuver and experience except being subjected to device-restrictive.Factor affecting such as the scanning probe size is little because being subjected to, check point out-of-flatness, coupling difficulty, hand-held is adopted in the conventional ultrasound inspection, single imaging scope is little, need the mobile probe position or change angle a certain local organization of measurand is carried out scanning, obtain the irregular Dynamic Two-dimensional image of different angles, rely on doctor's dissection knowledge and clinical experience to carry out scanning and diagnosis, the picture position relation that collects is indeterminate, be difficult to determine to scan accurately position and scope, repeatable poor, concordance is poor.When applications of ultrasound during in breast examination, this problem is particularly remarkable.
Because mammary glands in women comes in every shape, organize softness, very big individual variation is arranged, present employed ultrasound investigation equipment all is not easy to the fixing of mammary gland soft tissue both at home and abroad, so the ultrasonic galactophore image that obtains is widely different.Adopt a kind of method that obtains full-field ultrasound scan image data, can obtain the three-D ultrasonic image in whole mammary gland zone, but do not determine scanning probe, mammary gland framework and measured's position relation, the measuring process of absent standardized, lack and carry out quantitatively that mammary gland is fixed and scanning, lack control scanning probe and carry out ultrasonic scanning at each precise local fix, can't determine the exact position data of scanning element, and effectively repeat scanning and review.Simultaneously, for the bigger or lax measured of breast, because the breast ultrasound ripple when checking, adopts the posture that lies low, breast can the vertical health outside, and existing method can't effectively be fixed.
Above factor has all hindered the standardization of ultrasonic scan operation, is difficult to obtain standardized breast ultrasound image, is difficult to finish that same measured's different times ultrasonic image is compared and reviews.
Summary of the invention
The object of the present invention is to provide a kind of method and apparatus that carries out standardized and precise ultrasound scanning, make the regularized operation of ultrasonic scan, the data normalization that obtains, the scanning accuracy improves, and can review contrast to same patient's medical history scanning data.
For achieving the above object, first purpose of the present invention is to provide a kind of method of carrying out standardized and precise ultrasound scanning, wherein scanning equipment has a scanning platform, in scanning probe is arranged, this method comprises: fixing measurand, and wherein, described fixedly measurand comprises: Z axle vertically, to the extruding of measurand direction, fixing described measurand; The along continuous straight runs X-axis is pushed to center position from two ends, fixing described measurand; And at measurand selection scanning datum mark, wherein, when described measurand being carried out initial scanning and check, use identical described scanning datum mark; And proofread and correct the scanning reference coordinate, wherein, described scanning reference coordinate is positioned at the scanning platform framework upper left corner; And definite scanning scope; And be benchmark with the scanning datum mark, in described scanning scope, measurand is carried out scanning, form the precise ultrasound scanning view data.
Preferably, described along continuous straight runs X-direction is measurand fixedly, and the employing gaging pressure is measured adjusting or adopted gear to measure adjusting, makes the corresponding pressure parameter unanimity of the different scanning of each time.
Preferably, described vertically Z-direction is measurand fixedly, adopts gaging pressure to measure adjusting, makes the corresponding pressure parameter unanimity of the different scanning of each time.
Preferably, described fixedly measurand comprise the vertical position of measurand be parallel to Y-axis to.
Preferably, described scanning scope comprises a specific scanning point, is benchmark with the scanning datum mark, carries out precise displacement, and the specific scanning point of measurand is carried out scanning, forms the precise ultrasound scanning view data.
Preferably, described scanning scope comprises a specific scanning scope, is benchmark with the scanning datum mark, carries out displacement, specific scanning scope is carried out scanning cover, and forms the precise ultrasound scanning view data.
Preferably, select the scanning datum mark to comprise in measurand, in the scanning coverage of scanning platform, finish once fast pre-scanning automatically, obtain a panoramic picture, choose datum mark according to panoramic picture.
Preferably, in panoramic picture, select the scanning datum mark to comprise that system adopts pattern recognition, and the point that meets special characteristic in the image is decided to be the scanning datum mark.
Preferably, in panoramic picture, select the scanning datum mark to comprise that system is labeled as the scanning datum mark according to the panoramic picture symmetry with the image mid point; Perhaps according to panoramic picture, manually choosing measurand one characteristic point is the scanning datum mark.
Preferably, select the scanning datum mark to comprise in measurand, place gauge point in advance at the measurand body surface, the sensor in the scanning platform is sought the gauge point that is placed on the measurand body surface automatically, and the position of the gauge point that finds according to sensor is decided to be the scanning datum mark.
Preferably, proofread and correct scanning system scanning reference coordinate and comprise, determine the initialized location of scanning platform; And the zero position of the initialized location of definite scanning system and the relative position of scanning reference point location coordinate.
Preferably, determine that the scanning scope comprises, after proofreading and correct scanning system scanning reference coordinate, in the coverage of scanning platform, determine the scanning scope, form the coordinate of scanning scope, form the scanning route.
Preferably, the step of measurand being carried out scanning comprises: adopt accurately tolerance, the scanning relative displacement of X-axis and vertical direction Y direction in the horizontal direction of popping one's head in is accurately measured, form closed-loop control system, the control step motor carries out displacement, carry out ultrasonic scanning at precise local fix, form scanogram.
Preferably, on the scanning route, the scanning probe is under the driving of stepping motor, once pause at each precise local fix, carry out a ultrasonic scanning, obtain the ultrasound scan image data of at least one frame, and this ultrasound scan image data is related with current probe coordinate position, store.
Preferably, the step of measurand being carried out scanning comprises, when carrying out ultrasonic scanning, the scanning probe remains on vertical direction, and to be parallel to Z axially motionless.
Second purpose of the present invention is to provide a kind of equipment that carries out standardized and precise ultrasound scanning, and scanning equipment has a scanning platform, is built-in with the scanning probe, and other has a central processing unit, a display and a memorizer.Further, this equipment that carries out standardized and precise ultrasound scanning has a measurand fixed system, and wherein the measurand fixed system comprises: perpendicular to the clamping plate of vertical direction Z axle, vertically Z-direction is pushed to the measurand direction, fixedly measurand; Perpendicular to the clamping plate of horizontal direction X-axis, the along continuous straight runs X-direction is pushed to center position from two ends, fixedly measurand; One coordinate positioning is arranged, and wherein, described coordinate positioning comprises: a relative static scanning datum mark with measurand; One obtains sensor with the relative static scanning reference point location of scanning probe; The scanning probe moves, and obtains sensor by the scanning reference point location and obtains the scanning reference point location, proofreaies and correct the scanning reference coordinate according to the scanning datum mark; Wherein, when described measurand being carried out initial scanning with check, use identical described scanning datum mark; Wherein, when described measurand being carried out initial scanning and check, described scanning reference coordinate is positioned at the scanning platform framework upper left corner; One accurate scanning control system is arranged.
Preferably, described clamping plate perpendicular to the horizontal direction X-axis, the along continuous straight runs X-direction, push to center position from two ends, fixing measurand, it is regulated and adopts horizontal direction X axis pressure transducer to measure or adopt the clamping plate gear to fix, and makes the corresponding pressure parameter unanimity of the different scanning of each time.
Preferably, the measurand fixed system comprises the vertically pressure transducer of Z-direction, measures to measurand direction squeezing pressure, regulates the position of the clamping plate of vertical direction Z-direction, makes the corresponding pressure parameter unanimity of the different scanning of each time.
Preferably, described clamping plate are the grid clamping plate.
Preferably, the scanning datum mark, in X-axis and the vertical direction Y-axis plane in the horizontal direction a bit.
Preferably, the scanning datum mark is the gauge point at the measurand body surface.
Preferably, the scanning datum mark is a color colour code gauge point; It is a colour code detecting sensor that the scanning reference point location obtains sensor.
Preferably, the scanning datum mark is a color colour code gauge point; It is a colour code detecting sensor that the scanning reference point location obtains sensor.
Preferably, the scanning datum mark is the measurand characteristic point; The scanning reference point location is retrieved as according to pre-scanning image, carries out pattern recognition; Or from pre-scanning image, choose.
Preferably, the scanning datum mark is the measurand characteristic point; The scanning reference point location is retrieved as according to pre-scanning image, carries out pattern recognition; Or from pre-scanning image, choose.
Preferably, accurately scanning control system comprises: sweep and nose into a displacement control module; One position sensing module; System drives the scanning probe by the displacement control module and moves in X-axis and Y-axis plane, detect the scanning probe in the relative displacement of X-axis and Y direction by the position sensing module, obtain the physical location of scanning probe and feed back to position control module, form closed loop control, finish accurate probe positions control and scanning.
Preferably, on the scanning route, the scanning probe is under the control of accurate scanning control system, once pause at each precise local fix, carry out a ultrasonic scanning, obtain the ultrasound scan image data of at least one frame, and the coordinate position of this ultrasound scan image data and current probe is related, and the described memorizer that sends to scanning equipment is stored.
Owing to the invention provides a kind of technology of the standardized and precise ultrasound scanning at mammary gland tissue, be convenient to mammary gland tissue is fixed, the location, the quantification of size pressure and accurate scanning, thus overcome the defective in the background technology.
Description of drawings
Fig. 1 a is the structural representation of present device.
Fig. 1 b is the cross section view along the B-B line of the scanning terrace part of present device.
Fig. 2 is the flow chart of overall summary scanning
Fig. 3 a is the sketch map that the grid clamping plate are fixed in the scanning platform.
Fig. 3 b is the sketch map that the grid clamping plate separate with the scanning platform.
Fig. 4 a is the sketch map of Z axial compressive force sensor.
Fig. 4 b is the sketch map of X axis pressure transducer.
Fig. 4 c is the fixing sketch map of X axis clamping plate gear.
Fig. 5 a is the flow chart that grating is accurately located degeneration factor.
Fig. 5 b is the flow chart of accurately locating the degeneration factor location according to grating.
Fig. 6 a is the sketch map of placing color colour code gauge point at mammary gland tissue.
Fig. 6 b is the flow chart of proofreading and correct the scanning coordinate according to color colour code gauge point
Fig. 7 a is the sketch map of a pre-scanning image.
Fig. 7 b is the flow chart of manually choosing the scanning datum mark.
Fig. 7 c is the flow chart of choosing the scanning datum mark according to pattern recognition.
Fig. 7 d is the flow chart of proofreading and correct the scanning coordinate according to pre-scanning image automatically.
Fig. 8 is the flow chart that carries out a standardized and precise ultrasound scanning.
Fig. 9 is the flow chart that carries out standardized and precise ultrasound scanning check.
Figure 10 is at certain specified point, the flow chart of quick and precisely checking.
The specific embodiment
Fig. 1 a is the structural representation of present device, and Fig. 1 b is the cross section view along the B-B line of the scanning terrace part of present device.
Present device has a scanning platform 4, be one to have the rectangular frame of frame, this scanning platform 4 can adopt firm plastic material to make, the plane that this scanning platform 4 contacts with bilateral breast tissue tight is scanning face 3, when carrying out scanning, this scanning face 3 covers the bilateral breast tissue for the treatment of scanning.The dual-side of scanning platform 4 frameworks respectively is equipped with leader 5 for operator's scanning basic fixed position, is fixed the bilateral breast tissue from vertical direction.The top of scanning platform 4 is fixedly connected on an end of the rocker stand 6 of adjustable position.This rocker stand 6 is connected to ultrasonic scan control operation platform 12, at ultrasonic scan control operation platform 12 display 13 is arranged, and a central processing unit (CPU) 14 and a memorizer 15 are arranged in this ultrasonic scan control operation platform 12.
Device has scanning probe 2 in scanning platform 4 frameworks, and this scanning probe 2 can adopt the electronics linear array probe, to satisfy different sweep limits requirements.This scanning probe 2 is connected with stepping motor 1, is fixed in stepping motor 1 front end.Under stepping motor 1 drives, the motion scanning.Stepping motor 1 is by central processing unit (CPU) 14 controls (this type of step motor system is known technology, and being such as but not limited to model is MSMA-02-2-A-1-F, MSMA-01-2-A-1F) in the ultrasonic scan control operation platform 12.
In scanning platform 4 frameworks, a coordinate positioning is arranged, be colour code detecting sensor 11.Be positioned on scanning probe 2 and the plane that mammary gland tissue contacts, popping one's head in scanning 2 is connected.When scanning probe 2 fast pre-scanning bilateral breasts are organized, the 11 automatic searchings of colour code detecting sensor are placed on bilateral breast in advance and organize color colour code gauge point on the body surface, and the position of the color colour code gauge point that colour code detecting sensor 11 finds is the scanning datum mark.Described scanning datum mark is organized a gauge point of body surface for bilateral breast in X-axis and Y-axis plane.
Wherein, described scanning datum mark is selected can also obtain by following method.The scanning probe 2 fast pre-whole bilateral breast tissues of scanning obtain a panoramic picture.According to panoramic picture, system adopts mode identification method, automatically the point that has special characteristic in the mammary gland tissue image is decided to be the scanning datum mark; Or according to panoramic picture, automatically mammary gland tissue image mid point is decided to be the scanning datum mark; Or according to panoramic picture, manually choosing mammary gland tissue 16 images one characteristic point is the scanning datum mark.
In scanning platform 4 frameworks, also have an accurate scanning control system, nose into a displacement control module and a position sensing module for sweeping.Sweeping and nosing into a displacement control module is stepping motor 1.One position sensing module respectively by be installed on X axis and Y-axis in scanning platform 4 frame edge to two groups of gratings 7 and corresponding photoelectric sensor 8 form.Two photoelectric sensors 8 are respectively perpendicular to the grating 7 of correspondence.Two photoelectric sensors 8 are popped one's head in by bonding way and scanning and 2 are fixedlyed connected.When scanning probe was mobile, photoelectric sensor read the input of grating scale, obtain accurate scanning probe X axis and Y-axis to relative displacement.
System drives scanning probe 2 respectively along X-axis and Y-axis plane motion by stepping motor 1.The position sensing module of being formed by photoelectric sensor 8 and grating 7 detect scanning probe 2 X axis and Y-axis to displacement, draw the actual position coordinate of current scanning probe 2, by feedback scanning 2 actual position coordinate correction motors 1 output of popping one's head in, constitute closed loop control, accurately control the movement of scanning probe 2 and position to finish accurate scanning.
Fig. 2 is the flow chart of overall summary scanning.
Step 201 is with grid clamping plate fixed press bilateral breast tissue from different directions.
Step 203 in scanning platform 4 coverages, is obtained the scanning datum mark.One method is that the scanning probe is organized bilateral breast and finished once pre-scanning automatically, obtains a panoramic picture.According to panoramic picture, choose the scanning datum mark.Other method is, according on the plane of scanning probe and the contact of bilateral breast tissue and the colour code detecting sensor and the searching of the color colour code gauge point on the mammary gland tissue body surface scanning datum mark that are connected with the scanning probe.
Step 204 according to an accurate scanning control system in the scanning datum mark of choosing and the scanning platform framework, is proofreaied and correct the scanning reference coordinate and is determined the scanning scope.
Fig. 3 a is the sketch map that the grid clamping plate are fixed in the scanning platform.
At first, at scanning platform 4 and bilateral breast tissue 16 tight scanning faces that contact, bonding or other lock mode devices have the graticule mesh 18 of the square net shape of polylith rigidity by screw, the grid scanning face of scanning face is fixed in formation one, this graticule mesh 18 is the plane of rule, has permeability.
Secondly, mobile rocker stand 6, and hold 4 liang of side grips 5 of scanning platform and axially be fixed and clamped to bilateral breast tissue 16 along Z, the grid scanning face of scanning platform 4 is fully closely contacted with mammary gland tissue 16 body surfaces, by each pressure transducers 9 of four edges in scanning platform 4 frameworks or a pressure transducer 10 in scanning platform 4 centers and grid scanning face that bilateral breast tissue 16 contacts, measure scanning platform 4 along Z axially to the extruding force of bilateral breast tissue 16, read and adjust Z axial compressive force sensor values this moment, and be saved in the memorizer.And evenly coating couplant between the scanning face of scanning platform 4 and the graticule mesh 17 and between graticule mesh 18 and the bilateral breast tissue 16.
At last, will organize two ends, 16 left and right sides to push to center fixation from bilateral breast perpendicular to the clamping plate 17 of X-axis.By being installed on clamping plate 17 inboards, measure clamping plate along the extruding force of X axis to bilateral breast tissue 16 with the pressure transducer 19 on the plane of 16 liang of end in contact of bilateral breast tissue.Read and adjust X axis pressure transducer value this moment, and be saved in the memorizer.Or, by the clamping plate gear of device on two parallel X axis of scanning platform 4 frame edge and the clamping plate gear of device on clamping plate 17 X axis parallel with two of the diagnostic bed junction, strap 17 organizes two ends, 16 left and right sides to move to the center along X axis from bilateral breast particular location.Read and adjust clamping plate gear particular location, and be saved in the memorizer.
Fig. 3 b is the sketch map that the grid clamping plate separate with the scanning platform.
At first, graticule mesh 18 is axially pushed to bilateral breast tissue 16 along Z, place on the bilateral breast tissue 16, fasten bilateral breast tissue 16 by frenulum or other lock modes of graticule mesh 18 edges at two ends.By the pressure transducer 9 of four edges in scanning platform 4 frameworks or in scanning platform 4 frameworks a pressure transducer 10 in center and the scanning face that bilateral breast tissue 16 contacts, survey grid along Z axially to the extruding force of bilateral breast tissue 16, read and adjust Z axial compressive force sensor values this moment, and be saved in the memorizer.And between graticule mesh 18 and bilateral breast tissue 16, evenly coat couplant.
Secondly, will organize two ends, 16 left and right sides to push to center fixation from bilateral breast along the clamping plate 17 perpendicular to X-axis.By being installed on clamping plate 17 inboards, measure clamping plate along the extruding force of X axis to bilateral breast tissue 16 with the pressure transducer 19 on the plane of 16 liang of end in contact of bilateral breast tissue.Read and adjust X axis pressure transducer value this moment, and be saved in the memorizer.Or, by the clamping plate gear of device on two parallel X axis of scanning platform 4 frame edge and the clamping plate gear of device on clamping plate 17 X axis parallel with two of the diagnostic bed junction, strap 17 organizes two ends, 16 left and right sides to move to the center along X axis from bilateral breast particular location.Read and adjust clamping plate gear particular location, and be saved in the memorizer.
At last, mobile rocker stand 6, and the handle 5 of holding scanning platform 4 both sides axially is fixed and clamped to bilateral breast tissue 16 along Z, and the scanning face of scanning platform 4 is fully closely contacted with graticule mesh 18.By each pressure transducers 9 of four edges in scanning platform 4 frameworks or a pressure transducer 10 in scanning platform 4 centers and scanning face that bilateral breast tissue 16 contacts, measure scanning platform 4 along Z axially to the extruding force of bilateral breast tissue 16, read and adjust Z axial compressive force sensor values this moment, and be saved in the memorizer.This pressure transducer axially organizes 16 squeezing pressure sensors consistent to bilateral breast with survey grid 18 along Z.And between the scanning face of scanning platform 4 and graticule mesh 18, evenly coat couplant.
Fig. 4 a is the sketch map of Z axial compressive force sensor.
Four edges in the scanning platform framework respectively are equipped with a pressure transducer 9 or the scanning face that contacts with the bilateral breast tissue in scanning platform center is built-in with a pressure transducer 10, be used for measuring the grid clamping plate along Z axially to the extruding force of bilateral breast tissue.
Fig. 4 b is the sketch map of X axis pressure transducer.
Along clamping plate 17 inboards perpendicular to X-axis, to organize on the plane of two end in contact with bilateral breast, device has pressure transducer 19, is used for measuring clamping plate 17 and organizes two ends, the left and right sides to the extruding force at center along X axis from bilateral breast.
Fig. 4 c is the fixing sketch map of X axis clamping plate gear.
Each device of two the parallel X axis in scanning platform framework edge have clamping plate gear 21 with clamping plate 17 X axis parallel with two of the diagnostic bed junction also respectively device clamping plate gear 21 is arranged, be used for fixing the particular location that clamping plate 17 organize two ends, the left and right sides to move to the center along X axis from bilateral breast.
Fig. 5 a is the flow chart that grating is accurately located degeneration factor.
Step 501 under central processing unit (CPU) control, is imported stepping motor with input position.
Step 503 draws the physical location that scanning is popped one's head in by grating, and reads the actual position information that scanning is popped one's head in by photoelectric sensor, and the physical location of scanning probe is fed back to stepping motor.If scanning probe physical location and input position have error, then be set at the shift length of scanning probe fine setting with this error distance.
Step 504 is imported stepping motor again with the shift length of this fine setting, and the scanning probe is motion again under stepping motor drives, and is moved to the exact position by Step-motor Control scanning probe.
Fig. 5 b is the flow chart of accurately locating the degeneration factor location according to grating.
Step 505 is under central processing unit (CPU) control, with target location S
1(X
1, Y
1) the input stepping motor.
Step 507 is if scanning probe physical location and Target Location Error are Δ S (X
1-X
2, Y
2-Y
2), and | X
1-X
2| and | Y
1-Y
2| difference≤d
0, d
0Be initialization system error allowed band, then the scanning probe has been finished once accurately location, has found the precision target position of setting.
Step 508 is if scanning probe physical location and Target Location Error are Δ S (X
1-X
2, Y
1-Y
2), and | X
1-X
2| and | Y
1-Y
2| difference＞d
0, then with error displacement distance, delta S (X
1-X
2, Y
1-Y
2) import stepping motor again.Scanning is popped one's head under stepping motor drives again along X axis stepping X
1-X
2With along Y-axis to stepping Y
1-Y
2, and be moved to the target location of setting by Step-motor Control scanning probe.Draw scanning probe physical location by grating, and read the actual position information that scanning is popped one's head in by photoelectric sensor, and the physical location of scanning probe is fed back to stepping motor.
Step 509 is Δ S≤d up to scanning probe physical location and Target Location Error
0, | X
1-X
2| and | Y
1-Y
2| difference≤d
0Just finished once and accurately located, found the precision target position of setting.
Fig. 6 a is the sketch map of placing color colour code gauge point at mammary gland tissue.
On a side nipple of bilateral breast tissue, place color colour code gauge point 20 in advance.Under central processing unit (CPU) control, in the scope that the scanning platform covers, scanning probe drives lower edge X axis and Y-axis to plane motion at stepping motor, be positioned on scanning probe and the plane that the bilateral breast tissue contacts, seek color colour code gauge point 20 automatically with the colour code detecting sensor that the scanning probe is connected.When the colour code detecting sensor overlapped with color colour code gauge point 20, the position of the color colour code gauge point 20 that the colour code detecting sensor is found was defined as the scanning datum mark, and this scanning reference point location is saved in the memorizer.
Fig. 6 b is the flow chart of proofreading and correct the scanning coordinate according to color colour code gauge point.
Step 605 is if the actual origin position of scanning probe and the initial origin position error of default are Δ S (X
0-X
01, Y
0-Y
01), and | X
0-X
01| and | Y
0-Y
01| difference≤O
0, O
0Be the former point tolerance allowed band of initialization system, then proofread and correct the scanning coordinate and finish.
Step 606 is if the actual origin position of scanning probe and the initial origin position error of default are Δ S (X
0-X
01, Y
0-Y
01), and | X
0-X
01| and | Y
0-Y
01| difference＞O
0, then the scanning probe need continue to repeat above-mentioned correction scanning coordinate stroke,
Step 607 is up to the actual origin position of scanning probe and the initial origin position error delta S≤O of default
0, proofread and correct the scanning coordinate and just finish.
The scanning probe is from scanning platform framework upper left corner origin position, and scanning scanning datum mark is moved to the lower right corner in the scanning platform framework relatively, and institute's coverage is the scanning scope, and the scanning scope covers the bilateral breast tissue.
Fig. 7 a is the sketch map of a pre-scanning image.
Under central processing unit (CPU) control, in the coverage of scanning platform, the scanning probe is under stepping motor drives, along X axis and Y-axis to plane motion, bilateral breast organized finish once fast pre-scanning automatically, obtain panoramic picture data, and bilateral breast tissue image 22 is presented on the display.
Fig. 7 b is the flow chart of manually choosing the scanning datum mark.
Step 701, the fast pre-scanning bilateral breast tissue of scanning probe obtains panoramic picture.Step 702 according to the mammary gland tissue characteristic information of panoramic picture reflection, meets a bit serving as a mark a little of focus characteristic with the nipple of a side mammary gland tissue in the click image or image mid point or other are any.Step 703, scanning is popped one's head in the scanning datum mark of this gauge point as the scanning image.And the scanning reference point location is saved in the memorizer.
Fig. 7 c is the flow chart of choosing the scanning datum mark according to pattern recognition.
Fig. 7 d is the flow chart of proofreading and correct the scanning coordinate according to pre-scanning image automatically.
Step 711 is if the actual origin position of scanning probe and the origin position error of default are Δ S (X
0-X
01, Y
0-Y
01), and | X
0-X
01| and | Y
0-Y
01| difference≤O
0, then proofread and correct the scanning coordinate and finish.
Step 712 is if the actual origin position of scanning probe and the origin position error of default are Δ S (X
0-X
01, Y
0-Y
01), and | X
0-X
01| and | Y
0-Y
01| difference＞O
0, then the scanning probe need continue to repeat above-mentioned correction scanning coordinate stroke.
Step gathers 713, up to the actual origin position of scanning probe and the origin position error delta S≤O of default
0, proofread and correct the scanning coordinate and just finish.
The scanning probe is from pre-scanning image upper left corner origin position, and scanning scanning datum mark is moved to the pre-scanning image lower right corner relatively, and institute's coverage is the scanning scope, and the scanning scope covers the bilateral breast tissue.
Fig. 8 is the flow chart that carries out a standardized and precise ultrasound scanning.
During scanning, the scanning probe keeps relative static with the measured.
Step 801 will be pushed along the axial graticule mesh of Z to the bilateral breast fixation of tissue, fasten by frenulum or other lock modes of graticule mesh edges at two ends.
Step 802 reads the pressure transducer value of four edges in the scanning platform framework or the interior pressure transducer value of scanning face that the interior center of scanning platform framework contacts with the bilateral breast tissue, and preserves Z axial compressive force sensor values.
Step 803 will be along organizing two ends to push to center fixation perpendicular to the X axis clamping plate from bilateral breast.
Step 806 is proofreaied and correct the scanning reference coordinate according to color colour code gauge point.The scanning probe is under stepping motor drives, with color colour code gauge point position, be that the scanning reference point location is reference point, accurately locate degeneration factor and accurately locate the degeneration factor location according to grating by grating, proofreading and correct the interior upper left corner of scanning platform framework is scanning initialized location zero position, determines the relative position of zero position and scanning datum mark coordinate position.The scanning probe is from scanning platform framework upper left corner origin position, and scanning scanning datum mark is moved to the lower right corner in the scanning platform framework relatively, and institute's coverage is the scanning scope, and the scanning scope covers the bilateral breast tissue.
Or, proofread and correct the scanning reference coordinate automatically according to pre-scanning image.The scanning probe is finished once fast pre-scanning automatically under the moving driving of stepping motor, obtain panoramic picture.Accurately locate degeneration factor and accurately locate the degeneration factor location according to grating by grating, the upper left corner of determining pre-scanning panoramic picture is scanning initialized location zero position, determines the relative position of zero position and scanning datum mark coordinate position.The scanning probe is from pre-scanning image upper left corner origin position, and scanning scanning datum mark is moved to the pre-scanning image lower right corner relatively, and institute's coverage is the scanning scope, and the scanning scope covers the bilateral breast tissue.
Step 808 is under central processing unit (CPU) control, in the scanning scope, the scanning probe begins under stepping motor drives from the zero position, to plane motion, and accurately control the target location that the scanning probe is moved to setting by stepping motor along X axis and Y-axis, scan.When scanning, scanning probe remains on vertical direction, and to be parallel to Z axially motionless, the scanning probe once pauses in each accurate spaced points, carry out a ultrasonic scanning, obtain the ultrasound scan image data of at least one frame, and this ultrasound scan image data is related with current probe coordinate position, all be saved in the memorizer.
To in the scanning scope, the ultrasonic three-dimensional view data that obtains, 3-D view and current scanning probe coordinate position relation all be saved in the memorizer.
Fig. 9 is the flow chart that carries out standardized and precise ultrasound scanning check.
During check, the scanning probe keeps relative static with the measured.
Step 901, the operator accesses the historical archives data of measured's initial examination from the case history storehouse.
Step 902 will the extruding along the axial graticule mesh of Z to the bilateral breast tissue, and adjusts the extruding force of the axial graticule mesh of Z and fixing bilateral breast tissue according to the pressure transducer value of preserving.Read pressure transducer value this moment, guarantee not homogeneous scanning pressure parameter unanimity of front and back.
Step 903 will organize two ends to push to the center from bilateral breast along the clamping plate of X axis, and adjust the pressure of X axis clamping plate and fixing bilateral breast tissue according to the particular location of the pressure transducer value of preserving or clamping plate gear.Read the particular location of this moment pressure transducer value or clamping plate gear, homogeneous scanning pressure parameter unanimity not before and after guaranteeing.
Step 904, under central processing unit (CPU) control, in scanning platform coverage, the scanning probe is under stepping motor drives, to plane motion, the automatic searching of colour code detecting sensor is placed on the Supramammillary color colour code gauge point of mammary gland tissue in advance along X axis and Y-axis.The position of the color colour code gauge point that the colour code detecting sensor is found is tentative to be the scanning datum mark.Accurately locate degeneration factor and accurately locate the degeneration factor location according to grating according to the scanning reference point location coordinate initial value of preserving and grating, adjust current scanning reference point location, find initial scanning datum mark.
Or scanning is popped one's head under stepping motor drives, and bilateral breast is organized finished once fast pre-scanning automatically, obtains a panoramic picture.According to panoramic picture, manually choose the scanning datum mark or adopt mode identification method to choose the scanning datum mark, accurately locate degeneration factor and accurately locate the degeneration factor location according to grating according to the scanning reference point location coordinate of preserving and grating, the scanning reference point location of choosing during to check is finely tuned, and finds initial scanning datum mark.
Step 905 is proofreaied and correct the scanning reference coordinate according to color colour code gauge point.The color colour code gauge point position that scanning pops one's head in to find, namely the scanning reference point location is reference point, under the moving driving of stepping motor, is moved to the scanning platform framework upper left corner, system is scanning zero position with its upper left corner.By the initial origin position that grating is accurately located degeneration factor and accurately located the degeneration factor location and preserve according to grating, calibration coordinate origin position.The scanning probe is from scanning platform framework upper left corner origin position, and scanning scanning datum mark is moved to the lower right corner in the scanning platform framework relatively, according to the scanning scope of preserving, proofreaies and correct scanning platform framework lower right corner coordinate position, finds initial scanning scope.
Or, proofread and correct the scanning reference coordinate automatically according to pre-scanning image.According to panoramic picture, the scanning datum mark that scanning pops one's head in to find is reference point, under stepping motor drives, is moved to the panoramic picture upper left corner, and system is scanning zero position with its upper left corner.By the initial coordinate origin position that grating is accurately located degeneration factor and accurately located the degeneration factor location and preserve according to grating, calibration coordinate origin position.The scanning probe is from pre-scanning image upper left corner origin position, and scanning scanning datum mark is moved to the pre-scanning image lower right corner relatively, according to the scanning scope of preserving, proofreaies and correct pre-scanning image lower right corner coordinate position, finds initial scanning scope.
Figure 10 is at certain specified point, the flow chart of quick and precisely checking.
Claims (27)
1. method of carrying out standardized and precise ultrasound scanning, wherein scanning equipment has a scanning platform, in the scanning probe is arranged, it is characterized in that comprising:
Fixing measurand, wherein, described fixedly measurand comprises: Z axle vertically, to the extruding of measurand direction, fixing described measurand; The along continuous straight runs X-axis is pushed to center position from two ends, fixing described measurand; And
Select the scanning datum mark in measurand, wherein, when described measurand being carried out initial scanning with check, use identical described scanning datum mark; And
Proofread and correct the scanning reference coordinate, wherein, described scanning reference coordinate is positioned at the scanning platform framework upper left corner; And
Determine the scanning scope; And
Be benchmark with the scanning datum mark, in described scanning scope, measurand carried out scanning, form the precise ultrasound scanning view data.
2. method according to claim 1 is characterized in that described along continuous straight runs X-direction is measurand fixedly, adopts gaging pressure to measure to regulate or adopts gear to measure adjusting, makes the corresponding pressure parameter unanimity of the different scanning of each time.
3. method according to claim 1 is characterized in that described vertically Z-direction is measurand fixedly, adopts gaging pressure to measure adjusting, makes the corresponding pressure parameter unanimity of the different scanning of each time.
4. method according to claim 1 is characterized in that, described fixedly measurand comprise the vertical position of measurand be parallel to Y-axis to.
5. method according to claim 1 is characterized in that described scanning scope comprises a specific scanning point, is benchmark with the scanning datum mark, carries out precise displacement, and the specific scanning point of measurand is carried out scanning, forms the precise ultrasound scanning view data.
6. method according to claim 1 is characterized in that described scanning scope comprises a specific scanning scope, is benchmark with the scanning datum mark, carries out displacement, specific scanning scope is carried out scanning cover, and forms the precise ultrasound scanning view data.
7. method according to claim 1 is characterized in that, selects the scanning datum mark to comprise in measurand, in the scanning coverage of scanning platform, finishes once fast pre-scanning automatically, obtains a panoramic picture, chooses datum mark according to panoramic picture.
8. as method as described in the claim 7, it is characterized in that select the scanning datum mark to comprise, system adopts pattern recognition, and the point that meets special characteristic in the image is decided to be the scanning datum mark in panoramic picture.
9. as method as described in the claim 7, it is characterized in that, in panoramic picture, select the scanning datum mark to comprise that system is labeled as the scanning datum mark according to the panoramic picture symmetry with the image mid point; Perhaps
According to panoramic picture, manually choosing measurand one characteristic point is the scanning datum mark.
10. method according to claim 1, it is characterized in that, select the scanning datum mark to comprise in measurand, place gauge point in advance at the measurand body surface, sensor in the scanning platform is sought the gauge point that is placed on the measurand body surface automatically, and the position of the gauge point that finds according to sensor is decided to be the scanning datum mark.
11. method is characterized in that according to claim 1, proofreaies and correct scanning system scanning reference coordinate and comprises, determines the initialized location of scanning platform; And
Determine the zero position of initialized location of scanning system and the relative position of scanning reference point location coordinate.
12. method is characterized in that according to claim 1, determines that the scanning scope comprises, after proofreading and correct scanning system scanning reference coordinate, in the coverage of scanning platform, determines the scanning scope, forms the coordinate of scanning scope, forms the scanning route.
13. method according to claim 1, it is characterized in that, the step of measurand being carried out scanning comprises: adopt accurately tolerance, the scanning relative displacement of X-axis and vertical direction Y direction in the horizontal direction of popping one's head in is accurately measured, form closed-loop control system, the control step motor carries out displacement, carries out ultrasonic scanning at precise local fix, forms scanogram.
14. as method as described in the claim 12, it is characterized in that, on the scanning route, the scanning probe is under the driving of stepping motor, once pause at each precise local fix, carry out a ultrasonic scanning, obtain the ultrasound scan image data of at least one frame, and this ultrasound scan image data is related with current probe coordinate position, store.
15., it is characterized in that the step of measurand being carried out scanning comprises as claim 1 or 13 described methods, when carrying out ultrasonic scanning, the scanning probe remains on vertical direction, and to be parallel to Z axially motionless.
16. an equipment that carries out standardized and precise ultrasound scanning, scanning equipment have a scanning platform, in scanning probe is arranged, other has a central processing unit, a display, a memorizer is characterized in that:
One measurand fixed system is arranged, and wherein the measurand fixed system comprises: perpendicular to the clamping plate of vertical direction Z axle, vertically Z-direction is pushed to the measurand direction, fixedly measurand; Perpendicular to the clamping plate of horizontal direction X-axis, the along continuous straight runs X-direction is pushed to center position from two ends, fixedly measurand;
One coordinate positioning is arranged, and wherein, described coordinate positioning comprises: a relative static scanning datum mark with measurand; One obtains sensor with the relative static scanning reference point location of scanning probe; The scanning probe moves, and obtains sensor by the scanning reference point location and obtains the scanning reference point location, proofreaies and correct the scanning reference coordinate according to the scanning datum mark; Wherein, when described measurand being carried out initial scanning with check, use identical described scanning datum mark; Wherein, when described measurand being carried out initial scanning and check, described scanning reference coordinate is positioned at the scanning platform framework upper left corner;
One accurate scanning control system is arranged.
17. equipment as claimed in claim 16, it is characterized in that, described clamping plate perpendicular to the horizontal direction X-axis, the along continuous straight runs X-direction, push to center position from two ends, fixing measurand, it is regulated and adopts horizontal direction X axis pressure transducer to measure or adopt the clamping plate gear to fix, and makes the corresponding pressure parameter unanimity of the different scanning of each time.
18. equipment as claimed in claim 16, it is characterized in that, the measurand fixed system comprises the vertically pressure transducer of Z-direction, measurement is to measurand direction squeezing pressure, regulate the position of the clamping plate of vertical direction Z-direction, make the corresponding pressure parameter unanimity of the different scanning of each time.
19., it is characterized in that described clamping plate are the grid clamping plate as claim 16,17 or 18 described equipment.
20. equipment as claimed in claim 16 is characterized in that, the scanning datum mark, in X-axis and the vertical direction Y-axis plane in the horizontal direction a bit.
21., it is characterized in that the scanning datum mark is the gauge point at the measurand body surface as claim 16 or 20 described equipment.
22., it is characterized in that the scanning datum mark is a color colour code gauge point as claim 16 or 20 described equipment; It is a colour code detecting sensor that the scanning reference point location obtains sensor.
23. equipment as claimed in claim 21 is characterized in that, the scanning datum mark is a color colour code gauge point; It is a colour code detecting sensor that the scanning reference point location obtains sensor.
24., it is characterized in that the scanning datum mark is the measurand characteristic point as claim 16 or 20 described equipment; The scanning reference point location is retrieved as according to pre-scanning image, carries out pattern recognition; Or from pre-scanning image, choose.
25. equipment as claimed in claim 21 is characterized in that, the scanning datum mark is the measurand characteristic point; The scanning reference point location is retrieved as according to pre-scanning image, carries out pattern recognition; Or from pre-scanning image, choose.
26. equipment as claimed in claim 16 is characterized in that, accurately scanning control system comprises:
Sweep and nose into a displacement control module;
One position sensing module;
System drives the scanning probe by the displacement control module and moves in X-axis and Y-axis plane, detect the scanning probe in the relative displacement of X-axis and Y direction by the position sensing module, obtain the physical location of scanning probe and feed back to position control module, form closed loop control, finish accurate probe positions control and scanning.
27. equipment as claimed in claim 26, it is characterized in that, on the scanning route, the scanning probe is under the control of accurate scanning control system, once pause at each precise local fix, carry out a ultrasonic scanning, obtain the ultrasound scan image data of at least one frame, and the coordinate position of this ultrasound scan image data and current probe is related, the described memorizer that sends to scanning equipment is stored.
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| CN104215695B (en) * | 2013-06-05 | 2017-07-04 | 上海工程技术大学 | A kind of three-D ultrasonic positions mesh template |
| WO2015021778A1 (en) * | 2013-08-13 | 2015-02-19 | 深圳迈瑞生物医疗电子股份有限公司 | Ultrasonic probe assembly |
| CN104367345B (en) * | 2013-08-13 | 2016-09-21 | 深圳迈瑞生物医疗电子股份有限公司 | A kind of ultrasonic probe assembly |
| CN104367340A (en) * | 2013-08-13 | 2015-02-25 | 深圳迈瑞生物医疗电子股份有限公司 | Ultrasonic probe component |
| CN104095657B (en) * | 2014-07-22 | 2017-02-15 | 汕头市超声仪器研究所有限公司 | Automatic breast ultrasound scanning method |
| CN104083178A (en) * | 2014-07-22 | 2014-10-08 | 汕头市超声仪器研究所有限公司 | Ultrasonic automatic scanning and checking device for mammary gland |
| EP3220828B1 (en) * | 2014-11-18 | 2021-12-22 | C.R. Bard, Inc. | Ultrasound imaging system having automatic image presentation |
| CN108451543A (en) * | 2017-02-17 | 2018-08-28 | 郝晓辉 | Automatic ultrasonic imaging system and method |
| CN107981888B (en) * | 2017-12-21 | 2021-07-13 | 浙江深博医疗技术有限公司 | Automatic mechanical positioning system for computer mammary gland scanning |
| CN108562651B (en) * | 2018-04-12 | 2020-07-10 | 长春工程学院 | Pen type ultrasonic probe attitude closed-loop adjusting device and method |
| CN109767890A (en) * | 2019-03-06 | 2019-05-17 | 深圳市杰普特光电股份有限公司 | Bearing calibration and device repair resistance method and repair resistance machine |
| CN111110279A (en) * | 2020-01-13 | 2020-05-08 | 卓瑞姆生物技术有限公司 | Ultrasonic imaging equipment and imaging method thereof |
| CN112716522A (en) * | 2020-12-30 | 2021-04-30 | 无锡祥生医疗科技股份有限公司 | Probe tail end trajectory tracking method and device, electronic equipment and storage medium |
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