CN111449680A - Optimization method of ultrasonic scanning path and ultrasonic equipment - Google Patents

Abstract

The invention discloses an optimization method and ultrasonic equipment for an ultrasonic scanning path. The method first obtains a preset scanning path of a region to be scanned, and after obtaining the preset scanning path, for each scanning point in the preset scanning path, Determine the normal vector direction and tangent direction of the scan point, and determine the attitude information corresponding to the scan point according to the normal vector direction and the tangent direction, so that when automatic scanning is performed based on the scan path, each scan point can be corresponding to each scan point based on the attitude information The posture of the corresponding ultrasonic probe is adjusted so that the ultrasonic probe can be on the tissue surface perpendicular to the area to be scanned, thereby improving the image quality of the collected ultrasonic image. In addition, when scanning based on the preset scanning path, the posture of the ultrasonic probe can be adjusted according to the pixel distribution concentration line of the scanned ultrasonic image and the center line of the ultrasonic image, which further improves the image quality of the ultrasonic image.

Description

A kind of optimization method of ultrasonic scanning path and ultrasonic equipment

technical field

The present invention relates to the technical field of ultrasound, and in particular, to an optimization method for an ultrasound scanning path and an ultrasound device.

Background technique

At present, clinical ultrasound generally uses a doctor's hand-held probe to scan, and the scanning results obtained by hand-held probes largely depend on the doctor's experience, which makes the scanning results obtained by different doctors different. In order to solve the problem of hand-held probes, ultrasound equipment manufacturers have developed automatic scanning ultrasound equipment to help doctors complete automatic scanning. Automatic scanning can help doctors reduce the burden and greatly improve the accuracy and repeatability of scanning.

However, currently, ultrasound automatic scanning is used to scan the tissue surface, and the probe is always scanned back and forth in one direction. In this way, when scanning complex tissue surfaces (for example, breasts or necks, etc.), the phenomenon that the ultrasound probe does not fully fit the skin surface may occur, and when the ultrasound probe does not fully fit the skin surface, the automatic acquisition The image quality of the ultrasound images is poor.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to provide a method for optimizing an ultrasonic scanning path and an ultrasonic device in view of the deficiencies of the prior art.

In order to solve the above-mentioned technical problems, the technical scheme adopted in the present invention is as follows:

A method for optimizing an ultrasonic scanning path, the method comprising:

Obtain a preset scanning path of the area to be scanned, wherein the preset scanning path includes several scanning points;

For each scan point, obtain the normal vector direction corresponding to the scan point and the tangent direction corresponding to the scan point;

Determine the three-dimensional coordinate system of the scanning point based on the normal vector direction and the tangent direction;

Based on the three-dimensional coordinate system and the normal vector, the attitude information of the ultrasound probe to be scanned is determined, so as to update the preset scanning path.

The optimization method of the ultrasonic scanning path, wherein the optimization method of the ultrasonic scanning path, is characterized in that, the three-dimensional coordinate system that determines the scanning point based on the normal vector direction and the tangent direction specifically includes:

Taking the normal vector direction of the normal vector as the first coordinate axis of the three-dimensional coordinate system;

The second coordinate axis and the third coordinate axis of the scanning point are determined based on the tangent direction and the normal vector direction, so that the first coordinate axis, the second coordinate axis and the third coordinate axis form the three-dimensional coordinate system .

The optimization method of the ultrasonic scanning path, wherein the optimization method of the ultrasonic scanning path is characterized in that the attitude information of the ultrasonic probe to be corresponding to the scanning is determined based on the three-dimensional coordinate system and the normal vector, so as to update The preset scanning path specifically includes:

Unitize the normal vector to obtain a unit vector corresponding to the normal vector;

Determine the rotation angle of the ultrasonic probe relative to the first coordinate axis, the second coordinate axis and the third coordinate axis based on the unit vector, to obtain the attitude information of the scanning point;

The attitude information is arranged at the scan point to update the preset scan path.

The optimization method of the ultrasonic scanning path, wherein, when the ultrasonic probe scan is located at the scanning point, the normal vector direction of the scanning point is the orientation of the ultrasonic probe.

The method for optimizing the ultrasonic scanning path, wherein, after determining the attitude information of the ultrasonic probe to be corresponding to the scanning based on the three-dimensional coordinate system and the normal vector, to update the preset scanning path, the method further includes: :

When the ultrasonic probe scans according to the preset scanning path, the first ultrasonic image of the scanning point is collected by the ultrasonic probe;

Obtain the pixel distribution concentration line corresponding to the first ultrasound image, and the center line of the first ultrasound image;

The adjustment angle corresponding to the scanning point is determined according to the pixel distribution concentration line and the center line, and the ultrasonic probe is adjusted according to the adjustment angle to adjust the preset scanning path.

The optimization method of the ultrasonic scanning path, wherein, the ultrasonic probe is adjusted according to the adjustment angle, after adjusting the preset scanning path, the method further comprises:

The second ultrasonic image of the scanning point is acquired according to the adjusted ultrasonic probe, and the second ultrasonic image is used as the ultrasonic image corresponding to the scanning point.

The optimization method of the ultrasonic scanning path, wherein the pixel distribution concentration line is a line connecting the ultrasonic emission origin corresponding to the first ultrasonic image and the pixel distribution concentration point of the first ultrasonic image, wherein the pixel distribution The distribution concentration point is the distribution center of the pixel points in the first ultrasound image.

The optimization method of the ultrasonic scanning path, wherein the adjustment angle corresponding to the scanning point is determined according to the pixel distribution concentration line and the center line, and the ultrasonic probe is adjusted according to the adjustment angle to Adjusting the preset scan path includes:

obtaining the angle between the pixel distribution concentration line and the center line;

The adjustment angle corresponding to the scanning point is determined according to the included angle, wherein the adjustment angle is a rotation angle around the extension direction of the wide surface of the ultrasonic probe, and the wide surface of the ultrasonic probe is perpendicular to the direction of the ultrasonic probe. The advance direction of the preset scan path.

The optimization method of the ultrasonic scanning path, wherein, the calculation formula of the adjustment angle is:

ry=-λe-μe′

Among them, ry is the adjustment angle, e is the difference between the angle and the preset expected angle, e' is the first derivative of e, λ is the gain coefficient, and μ is the differential coefficient.

A kind of ultrasound equipment, it comprises: processor, memory and communication bus; The computer readable program that can be executed by described processor is stored on described memory;

The communication bus implements connection communication between the processor and the memory;

When the processor executes the computer-readable program, the steps in the method for optimizing an ultrasonic scanning path as described above are implemented.

Beneficial effects: Compared with the prior art, the present invention provides an optimization method for an ultrasonic scanning path and an ultrasonic device. The method first obtains the preset scanning path of the area to be scanned, and after obtaining the preset scanning path Assuming each scan point in the scan path, determine the normal vector direction and tangent direction of the scan point, and determine the attitude information corresponding to the scan point according to the normal vector direction and the tangent direction, so that automatic scanning is performed based on the scan path. At the time, the posture of the ultrasonic probe corresponding to each scanning point can be adjusted based on the posture information, which can make the ultrasonic probe be perpendicular to the tissue surface of the area to be scanned, thereby improving the image quality of the collected ultrasonic image. In addition, when scanning based on the preset scanning path, the posture of the ultrasonic probe can be adjusted according to the pixel distribution concentration line of the ultrasonic image obtained by scanning and the center line of the ultrasonic image, which further improves the image quality of the ultrasonic image.

Description of drawings

FIG. 1 is a flow chart of a method for optimizing an ultrasonic scanning path provided by the present invention.

Fig. 2 is the schematic diagram of preset scanning path in the optimization method of ultrasonic scanning path provided by the present invention.

Fig. 3 is the schematic diagram of the normal vector of the middle scanning point P of the optimization method of the ultrasonic scanning path provided by the present invention.

Fig. 4 is the corresponding relationship diagram of the normal vector of the middle scanning point P and the probe orientation in the optimization method of the ultrasonic scanning path provided by the present invention.

Fig. 5 is the schematic diagram of the coordinate axis of the scanning point in the method for optimizing the ultrasonic scanning path provided by the present invention.

Fig. 6 is the schematic diagram of adjusting the posture of the ultrasonic probe according to the angle in the optimization method of the ultrasonic scanning path provided by the present invention.

FIG. 7 is a schematic structural diagram of the ultrasonic device provided by the present invention.

Detailed ways

The present invention provides a method for optimizing an ultrasonic scanning path and an ultrasonic device. In order to make the purpose, technical solution and effect of the present invention clearer and clearer, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

It will be understood by those skilled in the art that the singular forms "a", "an", "said" and "the" as used herein can also include the plural forms unless expressly stated otherwise. It should be further understood that the word "comprising" used in the description of the present invention refers to the presence of stated features, integers, steps, operations, elements and/or components, but does not exclude the presence or addition of one or more other features, Integers, steps, operations, elements, components and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Furthermore, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.

It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It should also be understood that terms, such as those defined in general dictionaries, should be understood to have meanings consistent with their meanings in the context of the prior art and, unless specifically defined as herein, should not be interpreted in idealistic or excessive terms. formal meaning to explain.

After research, the inventor found that, as long as the ultrasonic device automatically scans the surface of human tissue, and the preset scanning path corresponding to the automatic scanning only sets the position information of the scanning point, then the probe can only be fixed without the aid of the external track. Pan scan in a certain orientation. However, when the surface of the tissue to be scanned (for example, breast or neck, etc.) is curved, the ultrasound probe may form a large angle with the skin, or the ultrasound probe may not fully fit the skin surface. When the skin surface is completely fitted or the ultrasound probe and the skin may have a large angle, the image quality of the automatically acquired ultrasound images will be poor.

In order to solve the above problem, in the embodiment of the present invention, a preset scanning path including several scanning points in the area to be scanned is obtained, and for each scanning point, the normal vector direction corresponding to the scanning point and the tangent direction corresponding to the scanning point are obtained ; Determine the three-dimensional coordinate system of the scanning point based on the direction of the normal vector and the tangent direction; Determine the attitude information of the ultrasonic probe to be corresponding to the scan based on the three-dimensional coordinate system and the normal vector, to update the preset scan path. In this way, after the preset scanning path is acquired, the attitude information of each scan in the preset scanning path is determined. When scanning based on the preset scanning path, the rotating ultrasonic probe in the attitude information can be used, thereby improving the ultrasonic quality collected by the ultrasonic probe. The image quality of the image.

In the following, the content of the invention will be further illustrated by describing the embodiments with reference to the accompanying drawings.

This embodiment provides an optimization method for an ultrasound scanning path. The method can be executed by an optimization device, and the optimization device can be implemented by software or hardware, and is applied to a device that can collect ultrasound images, such as ultrasound equipment. It can be applied to an acquisition device, or applied to an intelligent terminal such as a PC, a tablet computer, etc. that can be connected to an acquisition device that can acquire ultrasound images. Referring to Fig. 1, the optimization method of the ultrasonic scanning path provided by this implementation includes:

S10, obtain the preset scanning path of the area to be scanned, wherein, the preset scanning path includes several scanning points;

S20, for each scan point, obtain the normal vector direction corresponding to this scan point and the tangent direction corresponding to this scan point;

S30, determine the three-dimensional coordinate system of this scanning point based on the direction of the normal vector and the direction of the tangent;

S40, based on the three-dimensional coordinate system and the normal vector, determine the attitude information of the ultrasound probe to be corresponding to the scan, to update the preset scan path.

Specifically, in the step S10, the preset scanning path is a preset scanning path where the ultrasonic probe automatically scans. It can be understood that when the ultrasonic probe performs automatic scanning, the ultrasonic probe moves according to the preset scanning path, so as to sample each scanning point set on the preset scanning path. Thus, the preset scan path includes several scan points, and for each scan point in the several scan points, when the ultrasonic probe moves to the scan point, the ultrasonic probe collects an ultrasonic image corresponding to the scan point. In an implementation manner of this embodiment, the ultrasonic probe may be connected to a mechanical arm, and the ultrasonic probe is driven to move by the mechanical arm, so that the ultrasonic probe scans according to a preset scanning path. It can be understood that, when the ultrasonic probe is driven by the robotic arm, the preset scanning path is stored in a control device (eg, MCU, etc.) for controlling the motion of the robotic arm, and the control device controls the machine according to the preset scanning path. The arm moves to drive the ultrasonic probe to move according to the preset scanning path.

Further, as shown in Figure 2, the preset scanning path includes several scanning points, and each scanning point in the several scanning points includes attitude information, and the attitude information is used to determine the position and attitude of the ultrasound probe at the scanning point. It can be understood that the position information refers to the position of the scanning point in the area to be scanned, and the posture refers to the spatial state of the ultrasonic probe at the scanning point. In addition, the process of determining the preset scanning path may be: first, determining a motion path, wherein the motion path includes the position information of each scanning point and the motion trajectory passing through each scanning point; secondly, determining each scanning point based on the motion path. Attitude information corresponding to the scanning points; finally, the attitude information of each scanning point is allocated to each scanning point to obtain a preset scanning path.

Further, the process of determining the motion path may be to first obtain the position information of the area to be scanned by using the depth camera, and customize the scanning path according to the obtained position information to determine the position information of each scanning point; it may also be obtained through the depth camera. After the position information of the area to be scanned, a path planning scheme that can cover the surface of the target tissue is selected (for example, scanning from left to right in an up-down scanning (vertical scan) manner, or from top to bottom in a left-right scanning (horizontal scan) manner. Perform a few steps) to determine the scanning path to determine the position information of each scanning point. Of course, it is worth noting that the motion path can also be in any other manner that can determine the motion path of the automatic scanning, which will not be described one by one here.

Further, in the step S20, after the motion path is acquired, the process of acquiring the attitude information of each scan point in the motion path is the same, and a scan point is taken as an example for description here. For the scanning point in the motion path, as shown in Figures 3 and 4, the normal vector corresponding to the scanning point P is determined, and the direction of the normal vector is set to the orientation of the ultrasound probe, that is, when the ultrasound probe scans at the scanning point , the orientation of the ultrasound probe is the same as the direction of the normal vector corresponding to the scan point. The normal vector corresponding to the scanning point may be determined according to the point cloud data used to generate the motion path. For example, the normal vector of the scanning point will be estimated by using the normal analysis of the tangential plane of the point cloud, and the normal vector of the scanning point will be calculated. The problem of transforming the normal vector into the least squares plane fitting estimation is solved. This method is a prior art for determining the normal vector of a data point in the point cloud data based on the point cloud data, and will not be described in detail here.

Further, in the step S30, the three-dimensional coordinate system that determines the scanning point based on the normal vector direction and the tangent direction specifically includes:

S31, taking the normal vector direction of the normal vector as the first coordinate axis of the three-dimensional coordinate system;

S32. Determine the second coordinate axis and the third coordinate axis of the scanning point based on the tangent direction and the normal vector direction, so that the first coordinate axis, the second coordinate axis and the third coordinate axis form the three-dimensional Coordinate System.

Specifically, after the normal vector of the scanning point is acquired, the direction of the normal vector is used as a coordinate axis corresponding to the scanning point, and the direction of the normal vector is used as the orientation of the ultrasonic probe, so that the ultrasonic probe samples the scanning point , the ultrasound probe can be perpendicular to the surface of the scanned tissue, which improves the image quality of the ultrasound image obtained by scanning. In addition, the normal vector is used as a coordinate axis corresponding to the scanning point, and the ultrasonic probe is oriented in the same direction as the normal vector, then the rotation of the vector is the rotation angle around the coordinate axis, and here the first coordinate axis corresponding to the normal vector is denoted as is the Z axis, and the rotation angle corresponding to the Z axis is recorded as r _z .

垂直，在获取到切线向量

后，计算切线向量

与法向量

相垂直的垂直分量

其中，

在获取到垂 直分量

后，可以将垂直分量

作为超声探头的第二坐标轴的朝向 (例如，X轴或Y轴)，最后利用叉乘公式可以求得超声探头的第三

为第三坐标轴(例如，Y轴 或X轴)，这里将第二坐标轴作为Y轴，将第三坐标轴作为X轴。Further, in order to ensure efficient scanning efficiency, the wide surface of the ultrasonic probe should be perpendicular to the advancing direction of the ultrasonic probe corresponding to the scanning point. It can be understood that the wide surface of the ultrasonic probe is perpendicular to the tangent of the scanning point on the moving path. direction. Among them, the tangent vector of the scanning point on the moving path can be calculated by the difference between two adjacent points. In addition, the tangent direction obtained by scanning the points is not necessarily the same as the normal vector

vertical, after getting the tangent vector

After that, calculate the tangent vector

with normal vector

perpendicular vertical component

in,

After getting the vertical component

After that, the vertical component can be

As the orientation of the second coordinate axis of the ultrasound probe (for example, the X axis or the Y axis), the third

is the third coordinate axis (for example, the Y axis or the X axis), where the second coordinate axis is taken as the Y axis, and the third coordinate axis is taken as the X axis.

Further, in described step S40, described based on this three-dimensional coordinate system and described normal vector Determine the attitude information of this scanning to be corresponding ultrasonic probe, to update described preset scanning path specifically include:

S41, unitize the normal vector to obtain a unit vector corresponding to the normal vector;

S42, determine the rotation angle of the ultrasonic probe relative to the first coordinate axis, the second coordinate axis and the third coordinate axis based on the unit vector, to obtain the attitude information of the scanning point;

S43. Arrange the attitude information at the scan point to update the preset scan path.

Specifically, after the first coordinate axis, the second coordinate axis and the third coordinate axis are obtained, the unit vectors in the directions of the first coordinate axis, the second coordinate axis and the third coordinate axis are calculated respectively, and each unit vector Arrange in the first, second and third columns of the rotation matrix in the order of X, Y and Z, then you can get the rotation matrix from the probe to the target coordinate system (world coordinate system or automatic equipment base coordinate system), and finally use the rotation matrix to The conversion formula of the pull angle can find the values of r _x , ry , and r _z , where r _x represents the rotation angle relative to the _X axis, ry represents the rotation angle relative to the Y axis, and r _z is relative to the _Z axis. The rotation angle of , thus obtains the attitude information (X, Y, _Z , r _x , ry , r _z ) corresponding to the scanning point.

单位后的单 位向量为(n₀，n₁，n₂)，将单位向量代入按照X-Y′-Z″得到的旋转 矩阵R_X-Y′-Z″的最后一列，可以得到r_y＝arcsin(n₀)、r_x＝arctan2(-n₁,n₂)。其 中，将绕Z旋转的旋转角度记为α，绕Y旋转的旋转角度记为β，绕X 旋转的旋转角度记为γ，则按照X-Y′-Z″的旋转顺序得到的旋转矩阵 R_X-Y′-Z″可以为：Further, in an implementation manner of this embodiment, the values of r _x , _{ry , and r z can} be obtained by using the conversion formula from the rotation matrix to the Euler angle, which can be:

The unit vector after the unit is (n ₀ , n ₁ , n ₂ ). By substituting the unit vector into the last column of the rotation matrix R _XY'- Z" obtained according to XY'-Z", r _y =arcsin(n ₀ ), r _x =arctan2(-n ₁ ,n ₂ ). Among them, the rotation angle around Z is denoted as α, the rotation angle around Y is denoted as β, and the rotation angle around X is denoted as γ, then the rotation matrix R _XY' is obtained according to the rotation order of XY'-Z"_-Z" can be:

Among them, s represents sin, and c represents cos.

Further, in an implementation of this embodiment, after determining the attitude information of the ultrasound probe to be scanned based on the three-dimensional coordinate system and the normal vector, so as to update the preset scanning path, the method further include:

H10. When the ultrasonic probe scans according to the preset scanning path, collect the first ultrasonic image of the scanning point through the ultrasonic probe;

H20, obtain the pixel distribution concentration line corresponding to the first ultrasonic image, and the center line of the first ultrasonic image;

H30. Determine the adjustment angle corresponding to the scanning point according to the pixel distribution concentration line and the center line, and adjust the ultrasonic probe according to the adjustment angle to adjust a preset scanning path.

Specifically, the pixel distribution concentration line is a straight line passing through the pixel distribution concentration points of the first ultrasound image, and the center line refers to the image center line of the first ultrasound image, through which the first ultrasound image can be divided into equal parts for two subimages. Both the center line and the pixel distribution concentration line pass through the ultrasonic emission origin corresponding to the first ultrasonic image, wherein the center line may be the ultrasonic emission origin corresponding to the first ultrasonic image and the image center of the first image The pixel distribution concentration line is the connection line between the ultrasound emission origin corresponding to the first ultrasound image and the pixel distribution concentration point of the first ultrasound image, and the pixel distribution concentration point is the first ultrasound image. The pixel point distribution center in the image, the pixel distribution concentration point indicates the distribution concentration point of the image pixel set in the first ultrasound image, of course, it is worth noting that the pixel values of the ultrasound image pixel points are all black pixel values or white pixels. The value of the pixel points in the image pixel set.

Further, the adjustment angle is the angle between the pixel distribution concentration line as the center line, which is used to indicate the degree of deviation of the pixels in the image from the center, wherein the calculation process of the included angle can be: The angle between the line and the center line is multiplied by its pixel value to obtain the weighted average sum. The adjustment of the ultrasonic probe according to the adjustment angle refers to adjusting the preset scanning path corresponding to the scanning point in the ultrasonic image plane, for example, the imaging plane of the ultrasonic probe is the XZ plane of its own coordinate system, etc. Both the center line and the pixel distribution concentration line pass through the ultrasonic emission origin corresponding to the first ultrasonic image, so that they can intersect at the ultrasonic emission origin corresponding to the first ultrasonic image. Therefore, in a possible implementation manner of this embodiment, determining the adjustment angle corresponding to the scanning point according to the pixel distribution concentration line and the center line may be based on the pixel distribution concentration line and the center line. The included angle determines the adjustment angle. Correspondingly, determining the adjustment angle corresponding to the scanning point according to the pixel distribution concentration line and the center line, and adjusting the ultrasonic probe according to the adjustment angle, to adjust the preset scanning path specifically includes:

obtaining the angle between the pixel distribution concentration line and the center line;

The adjustment angle corresponding to the scanning point is determined according to the included angle, wherein the adjustment angle is a rotation angle around the extension direction of the wide surface of the ultrasonic probe, and the wide surface of the ultrasonic probe is perpendicular to the direction of the ultrasonic probe. The advance direction of the preset scan path.

Specifically, the pixel distribution concentration line and the center line are on the same plane, so that the angle between the pixel distribution concentration line and the center line can be determined according to the pixel distribution concentration line and the center line. After the included angle is determined, the adjustment angle may be determined according to a preset desired included angle, wherein the adjustment angle is a rotation angle around the extension direction of the broad surface of the ultrasonic probe, and the broad surface of the ultrasonic probe It is perpendicular to the advancing direction of the ultrasonic probe along the preset scanning path. In addition, as shown in FIG. 6 , when the included angles are different, the image quality of the first ultrasound image is different. In an implementation of this embodiment, the desired included angle may be set to 0°, and the adjustment angle corresponding to the scanning point is determined based on the desired included angle and the calculated included angle.

Further, in an implementation of this embodiment, the imaging plane of the ultrasonic probe is the XZ plane of its own coordinate system, then the adjustment angle is the rotation swing around the Y axis (that is, the extension direction of the wide surface of the ultrasonic probe) Therefore, the rotation angle corresponding to the X axis and the Z axis in the attitude information after adjustment of the scanning point remains unchanged, and the rotation angle corresponding to the Y axis is updated to the sum of the rotation angle corresponding to the Y axis and the adjustment angle. Among them, the calculation formula of the adjustment angle can be:

为期望夹角，s_p为所述像素分 布集中线与所述纵向中心线的夹角。Among them, r _y1 is the adjustment angle, λ is the gain coefficient,

is the desired included angle, and _sp is the included angle between the pixel distribution concentration line and the longitudinal centerline.

Further, in an implementation of the present embodiment, the calculation formula of the angle between the pixel distribution concentration line and the longitudinal center line can be:

Among them, γ is the attenuation coefficient, Ω is the image area, i, j are the image rows and columns, p _ij is the pixel value of a pixel in the image area, θ _ij is the sound ray where the pixel p _ij is located and the image center line. horn.

Further, in an implementation of the present embodiment, after obtaining the adjustment angle, a differential control link can be added, and correspondingly, the calculation formula of the adjustment angle is:

r _y1 =-λe-μe′

为夹角与预设期望夹角的差值，e′为 e的一阶导数，λ为增益系数，μ为微分系数。Among them, r _y1 swing swing angle,

is the difference between the angle and the preset expected angle, e' is the first derivative of e, λ is the gain coefficient, and μ is the differential coefficient.

Further, in an implementation manner of this embodiment, after the ultrasonic probe is adjusted according to the adjustment angle to adjust the preset scanning path, the method further includes:

The second ultrasonic image of the scanning point is acquired according to the adjusted ultrasonic probe, and the second ultrasonic image is used as the ultrasonic image corresponding to the scanning point.

Specifically, the second ultrasound image is obtained from the adjusted attitude information corresponding to the scanning point. It is understandable that the image quality of the second ultrasound image is higher than that of the first ultrasound image, so that the second ultrasound image can be The image serves as the corresponding ultrasound image for this less buy point. Of course, in practical applications, the attitude information corresponding to the scanning point can be adjusted according to the adjustment angle, and the attitude information of the scanning point can be updated by using the adjusted attitude information. A new preset scanning path is used, and then the area to be scanned is scanned according to the new preset scanning path, so as to obtain an ultrasound image of each scanning point. It can be understood that the update of the attitude information of each scan point can be performed when the ultrasound image corresponding to the scan point is acquired, or the attitude information of each scan point can be updated separately before the ultrasound image corresponding to each scan point is acquired. In order to obtain a new preset scanning path, and then scan according to the preset scanning path, here is to avoid the need to optimize the attitude information of each scanning point every time the area to be scanned is automatically scanned, which improves the preset preset after optimization. Repeatability of scan paths.

Based on the foregoing method for optimizing an ultrasonic scanning path, this embodiment provides a computer-readable storage medium, where the computer-readable storage medium stores one or more programs, and the one or more programs can be stored by one or more The processor executes the steps in the method for optimizing the ultrasonic scanning path described in the above embodiments.

Based on the above-mentioned optimization method for an ultrasonic scanning path, the present invention also provides an ultrasonic device, as shown in FIG. 7 , which includes at least one processor 20 ; a display screen 21 ; and a memory 22 , which may also include Communications Interface (Communications Interface) 23 and bus 24. Among them, the processor 20, the display screen 21, the memory 22 and the communication interface 23 can communicate with each other through the bus 24. The display screen 21 is set to display the user guide interface preset in the initial setup mode. The communication interface 23 can transmit information. The processor 20 may invoke logic instructions in the memory 22 to perform the methods of the above-described embodiments.

In addition, the above-mentioned logic instructions in the memory 22 may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as an independent product.

As a computer-readable storage medium, the memory 22 may be configured to store software programs and computer-executable programs, such as program instructions or modules corresponding to the methods in the embodiments of the present disclosure. The processor 20 executes functional applications and data processing by running software programs, instructions or modules stored in the memory 22, that is, implements the methods in the above embodiments.

The memory 22 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the ultrasound device, and the like. In addition, memory 22 may include high-speed random access memory, and may also include non-volatile memory. For example, U disk, removable hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program codes, or temporary state storage medium.

In addition, the specific process of loading and executing the above-mentioned storage medium and the multiple instruction processor in the ultrasound apparatus has been described in detail in the above-mentioned method, and will not be described one by one here.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that it can still be The technical solutions described in the foregoing embodiments are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. an optimization method of ultrasonic scanning path, is characterized in that, described method comprises: obtaining a preset scanning path of the area to be scanned, wherein the preset scanning path includes several scanning points; For each scan point, obtain the normal vector direction corresponding to the scan point and the tangent direction corresponding to the scan point; Determine the three-dimensional coordinate system of the scanning point based on the normal vector direction and the tangent direction; The attitude information of the ultrasound probe to be scanned is determined based on the three-dimensional coordinate system and the normal vector, so as to update the preset scanning path. 2. The optimization method of the ultrasonic scanning path according to claim 1, wherein the optimization method of the ultrasonic scanning path is characterized in that the scanning point is determined based on the normal vector direction and the tangent direction. The three-dimensional coordinate system specifically includes: Taking the normal vector direction of the normal vector as the first coordinate axis of the three-dimensional coordinate system; The second coordinate axis and the third coordinate axis of the scanning point are determined based on the tangent direction and the normal vector direction, so that the first coordinate axis, the second coordinate axis and the third coordinate axis form the three-dimensional coordinate system . 3. The optimization method of the ultrasonic scanning path according to claim 1, wherein the optimization method of the ultrasonic scanning path is characterized in that the scanning to be corresponding is determined based on the three-dimensional coordinate system and the normal vector. The attitude information of the ultrasonic probe to update the preset scanning path specifically includes: Unitize the normal vector to obtain a unit vector corresponding to the normal vector; Determine the rotation angle of the ultrasonic probe relative to the first coordinate axis, the second coordinate axis and the third coordinate axis based on the unit vector, so as to obtain the attitude information of the scanning point; The attitude information is arranged at the scan point to update the preset scan path. 4 . The method for optimizing an ultrasonic scanning path according to claim 1 , wherein when the ultrasonic probe scans at the scanning point, the normal vector direction of the scanning point is the orientation of the ultrasonic probe. 5 . 5. The optimization method of the ultrasonic scanning path according to any one of claims 1-4, wherein the attitude information of the ultrasonic probe to be corresponding to the scanning is determined based on the three-dimensional coordinate system and the normal vector, so as to update all the After the preset scanning path, the method further includes: When the ultrasonic probe scans according to the preset scanning path, collect the first ultrasonic image of the scanning point through the ultrasonic probe; acquiring the pixel distribution concentration line corresponding to the first ultrasound image, and the center line of the first ultrasound image; The adjustment angle corresponding to the scanning point is determined according to the pixel distribution concentration line and the center line, and the ultrasonic probe is adjusted according to the adjustment angle to adjust the preset scanning path. 6. The method for optimizing an ultrasonic scanning path according to claim 5, wherein after adjusting the ultrasonic probe according to the adjustment angle to adjust the preset scanning path, the method further comprises: A second ultrasound image of the scan point is acquired according to the adjusted ultrasound probe, and the second ultrasound image is used as the ultrasound image corresponding to the scan point. 7 . The method for optimizing an ultrasonic scanning path according to claim 5 , wherein the pixel distribution concentration line is the difference between the ultrasonic emission origin corresponding to the first ultrasonic image and the pixel distribution concentration point of the first ultrasonic image. 8 . Connecting lines, wherein the pixel distribution concentration point is the pixel distribution center in the first ultrasound image. 8 . The method for optimizing an ultrasonic scanning path according to claim 5 , wherein the adjustment angle corresponding to the scanning point is determined according to the pixel distribution concentration line and the center line, and the adjustment angle is adjusted according to the adjustment angle. 9 . The adjustment of the ultrasonic probe to adjust the preset scanning path specifically includes: obtaining the angle between the pixel distribution concentration line and the center line; The adjustment angle corresponding to the scanning point is determined according to the included angle, wherein the adjustment angle is a rotation angle around the extension direction of the wide surface of the ultrasonic probe, and the wide surface of the ultrasonic probe is perpendicular to the direction of the ultrasonic probe. The advance direction of the preset scan path. 9. the optimization method of the ultrasonic scanning path according to claim 5, is characterized in that, the calculation formula of described adjustment angle is: ry=-λe-μe′ Among them, ry is the adjustment angle, e is the difference between the angle and the preset expected angle, e' is the first derivative of e, λ is the gain coefficient, and μ is the differential coefficient. 10. An ultrasound device, comprising: a processor, a memory and a communication bus; a computer-readable program executable by the processor is stored on the memory; The communication bus implements connection communication between the processor and the memory; When the processor executes the computer-readable program, the steps in the method for optimizing an ultrasonic scanning path according to any one of claims 1-9 are implemented.

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