CN115381484B - A dual-plane ultrasonic transducer probe and a method for setting the transducer position thereof - Google Patents
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Abstract
本发明涉及一种双平面穿刺超声导引系统换能器探头及其换能器位置的设置方法。通过对单平面换能器在三维坐标系中的位置进行变换，以构造具有两个换能器的双平面探头，其中位置变换包括一个水平移动变换和三个方向的角度变换，使得探头的两个换能器的之间夹角可调，并且与水平面的两个角度可调。可以根据身体部位的穿刺要求设计最优的双平面穿刺探头。该两个换能器的扫查平面相交在进针路径上，从而可以从不同的维度对穿刺针的进针过程进行显示，并相互实时纠正穿刺针在各自换能器的被动孔径方向上发生的偏离，并且所有的角度关系，通过数学表达式互相转化，并且根据不同的应用场景，指导双平面换能器探头的设计，能够快速自动地对换能器参数精确设置，使其与具体的穿刺目标相匹配，提高了穿刺导引的精确度。
The present invention relates to a transducer probe of a dual-plane puncture ultrasound guidance system and a method for setting the transducer position thereof. A dual-plane probe having two transducers is constructed by transforming the position of a single-plane transducer in a three-dimensional coordinate system, wherein the position transformation includes a horizontal movement transformation and an angle transformation in three directions, so that the angle between the two transducers of the probe is adjustable, and the two angles with the horizontal plane are adjustable. The optimal dual-plane puncture probe can be designed according to the puncture requirements of the body part. The scanning planes of the two transducers intersect on the needle insertion path, so that the needle insertion process of the puncture needle can be displayed from different dimensions, and the deviation of the puncture needle in the passive aperture direction of each transducer can be corrected in real time, and all angle relationships are mutually converted through mathematical expressions, and according to different application scenarios, the design of the dual-plane transducer probe is guided, and the transducer parameters can be quickly and automatically accurately set to match the specific puncture target, thereby improving the accuracy of puncture guidance.
Description
Technical Field
The invention relates to the technical field of ultrasonic transducers, in particular to a double-plane ultrasonic transducer probe and a setting method of a transducer position in the double-plane ultrasonic transducer probe.
Background
In order to solve the problem of accurate positioning of the puncture guide needle or the needle tip, researchers at home and abroad propose a biplane ultrasonic transducer. Two ultrasonic transducers of a conventional biplane ultrasonic transducer are arranged in a T-type or L-type arrangement. The two linear array transducers of the T-shaped or L-shaped double-plane ultrasonic transducers keep a completely vertical relative position relation, so that the two imaging planes of the T-shaped or L-shaped double-plane ultrasonic transducers keep vertical. Fig. 1 shows the imaging plane of a T-shaped biplane ultrasound probe. The imaging plane of the transducer 1 corresponds to an in-plane view in which the outline of the penetrating instrument can be fully displayed, but the relative positional relationship of the penetrating instrument and the surrounding tissue in the cross-section cannot be demonstrated. The imaging plane of the transducer 2 corresponds to an out-of-plane view, which is orthogonal to the in-plane view, so that the relative position of the penetrating instrument and the surrounding tissue in a cross-section can be displayed in this imaging plane. When the T-type or L-type biplane ultrasonic transducer is used for puncture guidance, the puncture needle first appears in the imaging plane corresponding to the transducer 1, and the puncture needle may not observe the position deviation of the puncture needle in the imaging plane due to partial volume effect or the fact that the needle tip of the puncture needle is out of the acoustic beam scanning range of the transducer 1. The acoustic field of an ultrasonic transducer in the passive aperture direction is not strictly a "slice" but rather a slice of a certain thickness. The image displayed by the ultrasound imaging plane is thus an overlay of information in a direction perpendicular to the imaging plane and within a certain range, which is known in the medical ultrasound field as partial volume effect. When the needle continues to advance until it appears in the corresponding imaging plane of the transducer 2, the positional relationship of the needle to the surrounding tissue cannot be determined, at which point the needle cannot be re-penetrated if it is deflected. This process increases the penetration time and the penetration failure rate and may already cause damage to the surrounding tissue. Thus, conventional T-shaped or L-shaped biplane ultrasound transducers do not have the ability to correct the needle insertion path of the needle in real time.
In the prior art, double-plane ultrasonic imaging can be realized by adopting a complete-plane array transducer, and although the effect is good, the area array of tens of thousands of channels and the imaging cost limit that the ultrasonic imaging cannot be widely popularized.
Other improvements exist in the prior art. For example, patent 202122239361.X discloses a probe device for a biplane ultrasound transducer, which allows to see the needle in the plane at the same time, guiding the puncture, by varying the angle between the two transducers and the angle between the transducer and the base. The two transducers and the base can be manually attached to the detected part by a doctor to try and adjust when in use, so that the use is inconvenient, meanwhile, the included angle between the two transducers and the included angle between the transducer and the base are respectively and independently adjusted, no correlation exists between the two transducers and the base, and a doctor is difficult to find a probe setting matched with a specific puncture target during actual use, so that the accuracy of puncture guidance is reduced, and the possibility of puncture failure is increased.
In order to solve the problems, the invention provides a method for constructing a novel biplane ultrasonic transducer probe, which is used for constructing a biplane probe with two transducers by transforming the positions of a monoplane transducer in a three-dimensional coordinate system, wherein the position transformation comprises a horizontal movement transformation and three-direction angle transformation, so that the included angle between the two transducers of the probe is adjustable, and the two angles with the horizontal plane are adjustable. The optimal biplane puncture probe can be designed according to the puncture requirement of the body part. The scanning planes of the two transducers are intersected on the needle inserting path, so that the needle inserting process of the puncture needle can be displayed from different dimensions, the deviation of the puncture needle in the passive aperture direction of each transducer can be corrected in real time, all the angle relations are mutually converted through mathematical expressions, the design of the biplane transducer probe is guided according to different application scenes, the parameters of the transducers can be quickly and automatically accurately set, the parameters are matched with specific puncture targets, and the puncture guiding accuracy is improved.
Disclosure of Invention
The invention provides a double-plane ultrasonic transducer probe and a setting method of the position of the transducer, wherein the position of a single-plane transducer in a three-dimensional coordinate system is changed to construct the double-plane ultrasonic transducer probe with two transducers, and scanning planes of the two transducers are intersected on a needle inserting path, so that the needle inserting process of a puncture needle can be displayed from different dimensions and the deviation of the puncture needle in the passive aperture direction of each transducer can be corrected mutually in real time.
The method for setting the positions of the transducers in the probe of the double-plane ultrasonic transducer is based on a single-plane ultrasonic transducer which is opposite to human tissue and is attached to skin, and the positions of the single-plane ultrasonic transducer in a three-dimensional coordinate system are transformed to calculate the positions of the two transducers in the probe of the double-plane ultrasonic transducer, and is characterized by comprising the following steps:
s1, placing a single-plane ultrasonic transducer at a position facing human tissue and attaching to the skin, and establishing a plane rectangular coordinate system by taking the skin surface as an xoy plane, so that one vertex of the single-plane ultrasonic transducer is positioned at an original point, a long axis of the single-plane ultrasonic transducer is positioned in the positive direction of an x axis, and a short axis of the single-plane ultrasonic transducer is positioned in the negative direction of a y axis, wherein the long axis of the single-plane ultrasonic transducer is a long side of the single-plane ultrasonic transducer, namely an active aperture direction, the short axis of the single-plane ultrasonic transducer is a broadside of the ultrasonic transducer, namely a passive aperture direction, and the single-plane ultrasonic transducer is positioned at an initial position (x, y, z);
s2, translating the ultrasonic transducer at the initial position along the negative direction of the y axis by delta, wherein the position coordinate of the translated ultrasonic transducer is (x, y-delta, z) T;
s3, rotating the ultrasonic transducer clockwise around the short axis by an angle of alpha degrees, wherein the short axis is coincident with the y axis, and the transducer coordinate corresponding to the change is equal to the expression of the right multiplication of the translated transducer coordinate by a rotation matrix R y,Ry around the y axis, wherein the expression is as follows:
s4, rotating the transducer by beta degrees around the long axis, wherein the rotation can be decomposed into the following processes that firstly, the transducer is rotated around the y axis to enable one long side of the transducer to coincide with the x axis, then the transducer is rotated around the x axis clockwise by beta degrees, and finally, the coordinate of the transducer P 1 is obtained through inverse transformation of the reduction rotation around the y axis, and the total transformation matrix H of the series of transformation is as follows:
Wherein the method comprises the steps of Is the inverse of R y1;
s5, mirror-image the position of the ultrasonic transducer P 1 to obtain the geometric position of the transducer P 2, wherein the mirror plane is perpendicular to the xoy plane and the included angle between the mirror plane and the projection of the long axis of P 1 on the xoy plane (i.e. the included angle between the mirror plane and the x axis) is At this time, the unit normal vector of the mirror plane isThe unit normal vector of the mirror plane isThe corresponding mirror image matrix is
I.e.
Multiplying the coordinates of the transducer P 1 by Q to obtain the coordinates of the transducer P 2;
S6 using the ultrasonic transducers P 1 and P 2 as two transducer assemblies of the biplane ultrasonic transducer probe.
Preferably, the ultrasonic transducers P 1 and P 2 may be linear transducers or convex array transducers or phased array transducers, respectively.
Preferably, parameters delta, alpha, beta and gamma of the biplane ultrasonic transducer are adjusted according to the blind zone depth and the needle inserting angle.
Preferably, the parameter range of the biplane ultrasonic transducer is delta more than or equal to 4mm, alpha less than or equal to 10 degrees, beta less than or equal to 20 degrees, and gamma is near 90 degrees.
Preferably, where the biplane ultrasound transducer is used for a kidney biopsy, its parameters are set to δ=4 mm, α=10°, β=20° and γ=90°.
The invention also provides a double-plane ultrasonic transducer probe, which comprises two ultrasonic transducers, wherein the positions of the two ultrasonic transducers are set by using the setting method of the transducer positions in the double-plane ultrasonic transducer probe, and the intersecting line of the scanning planes of the two ultrasonic transducers is a guide wire of a needle insertion path.
Drawings
These and/or other aspects of the invention will be apparent from and more readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
Fig. 1 is an imaging plane illustrating a T-shaped biplane ultrasound probe.
Fig. 2 is a geometric relationship of an L/T-type biplane ultrasound transducer and a novel biplane ultrasound transducer.
Fig. 3 is a novel biplane ultrasound transducer geometry.
Fig. 4 is a biplane ultrasound transducer construction process.
Fig. 5 is a schematic view of the depth of a dead zone and the needle insertion angle of a puncture path under ultrasonic puncture guidance.
Fig. 6 is an effect of construction parameters of a biplane ultrasound transducer on the needle penetration path.
Detailed Description
Fig. 2 illustrates the geometric relationship between a conventional L-type or T-type biplane ultrasonic transducer and a new type biplane ultrasonic transducer, in which a main transducer and an auxiliary transducer of an L/T-type probe together form the L/T-type biplane ultrasonic transducer, and the main transducer and an auxiliary transducer of an improved probe together form the new type biplane ultrasonic transducer. The green line in the figure represents the needle insertion path, and the L/T type biplane ultrasonic transducer and the novel biplane ultrasonic transducer assist in guiding the puncture needle on the needle insertion path, wherein the purple small ball represents the puncture target, and the blue arrows on two sides represent the relative offset of the puncture needle and the puncture target. For an L/T type biplane ultrasonic transducer, the whole needle inserting process of the puncture needle can be observed by the scanning plane corresponding to the main transducer, but the auxiliary transducer of the L/T type probe only can display one point where the needle inserting path intersects with the scanning plane, and the deviation of the puncture needle from the puncture target in the passive aperture direction of the main transducer is corrected according to the position of the point in ultrasonic imaging of the auxiliary transducer. This imaging modality of the L/T-type biplane ultrasound transducer does not fully utilize the auxiliary transducer to bring more positional information of the needle in different dimensions. Based on the knowledge, a design thought of a novel biplane probe is provided, the auxiliary transducer of the L/T type probe in the figure changes the position of the auxiliary transducer to the auxiliary transducer of the improved probe after geometric transformation, and the auxiliary transducer is intersected with a scanning plane corresponding to the main transducer on a needle insertion path. At the moment, the auxiliary transducer and the main transducer can observe the puncture needle in the whole needle inserting process as well, and the auxiliary transducer and the main transducer can display the needle inserting process of the puncture needle from different dimensions so as to mutually correct the deviation of the puncture needle in the passive aperture directions of the respective transducers in real time.
Because the novel ultrasonic probe shown in fig. 2 has been physically impossible because the auxiliary transducer has invaded human tissue when the main transducer is facing the human tissue and is attached to the skin, the novel biplane ultrasonic transducer shown in fig. 3 is obtained by rotating the whole of the main transducer on the basis of the biplane ultrasonic transducer design thought set forth above. The needle-inserting device consists of two mirror-symmetrical transducers, and the intersection line of scanning planes of the two transducers is taken as a needle-inserting path.
Figure 3 shows a design method for obtaining a novel biplane ultrasound probe geometry from a single transducer, based on a single plane transducer facing the body tissue and adhering to the skin, translating the transducer, and rotating the transducer in pitch, roll degrees of freedom to obtain transducer 1, and then mirror-symmetrically operating the transducer 1 about a mirror plane, which is at a yaw angle to the transducer 1, to obtain the position of the transducer 2. By the geometrical transformation operation as above, the geometrical configuration of the two transducers of the biplane transducer can be obtained.
A specific construction procedure of the biplane ultrasonic transducer will be given below. For ease of discussion, the parameters used in the geometric transformation of an ultrasound transducer are first defined. The long axis is defined as the long side of the ultrasound transducer, i.e. the active aperture direction, and the short axis is defined as the broad side of the ultrasound transducer, i.e. the passive aperture direction, wherein the long and short axes of the transducer are denoted as a and b, respectively. A plane rectangular coordinate system is established by taking the skin surface as an xoy plane, and a sitting mark of any position of the transducer is (x, y, z) T. Transducer 1 of the biplane ultrasound transducer is denoted as P 1 and transducer 2 is denoted as P 2. In the geometric transformation depicted in fig. 4, the rectangle enclosed by the black lines represents the initial state of the ultrasound transducer plane, with one of its vertices at the origin, the major axis in the positive x-axis direction, and the minor axis in the negative y-axis direction. In each step of the geometric transformation, the transducer translates a distance δ in the negative y-axis direction in step 1, a pitch angle α in step 2, and a roll angle β in step 3. The ultrasonic transducer in the initial state obtains the position of the transducer P 1 from the geometric transformation steps 1-3. The position of transducer P 2 is obtained after the transducer P 1 in step 4 has been mirrored about a mirror plane that is perpendicular to the xoy plane and has a yaw angle with the transducerYaw angle is defined as the angle between the mirror plane and the projection of the long axis of the transducer to the xoy plane.
To facilitate mathematical analysis, a geometric transformation matrix is used to quantitatively describe the geometric transformation process from a single-plane transducer to a new biplane ultrasound transducer, as follows:
1) First, the transducer in the initial position is translated by δ along the negative y-axis, and the coordinates of any position of the translated transducer are (x, y- δ, z) T.
2) The transducer is rotated clockwise about the minor axis by an angle of alpha. At this time, the minor axis coincides with the y-axis, so the transducer coordinates corresponding to the change are equal to the expression of the translated transducer coordinates multiplied right by the rotation matrix R y,Ry about the y-axis as:
3) After rotation about the minor axis, the transducer is then rotated β degrees about the major axis. The rotation can be broken down into the process of first rotating the transducer about the y-axis such that one of its long sides coincides with the x-axis, then rotating the transducer clockwise about the x-axis by β degrees, and finally obtaining the transducer P 1 by an inverse transform of the reductive rotation about the y-axis. The total transformation matrix H of this series of transformations is as follows:
Wherein the method comprises the steps of Is the inverse of R y1.
4) The transducer P 1 performs mirror image operation to obtain the geometric position of the transducer P 2, the mirror image plane is perpendicular to the xoy plane, and the included angle between the mirror image plane and the projection of the long axis of P 1 on the xoy plane (namely the included angle between the mirror image plane and the x axis) isAt this time, the unit normal vector of the mirror plane is The unit normal vector of the mirror plane isThe corresponding mirror image matrix is
I.e.
The coordinates of transducer P 1 are multiplied by Q to the right to give the coordinates of the transducer P 2. The two transducers will be placed in a geometric relationship as in fig. 3.
Combining the transformation steps in a matrix multiplication mode to obtain transformation matrixes which are respectively transformed into the P 1 transducer and the P 2 transducer after translation from the initial state of the single-plane transducer, wherein the transformation matrixes are called construction matrixes R P1 and R P2, and the expressions of the two matrixes are as follows:
RP2＝QRP1
It follows that when two single-plane ultrasound transducers are given, the double-plane ultrasound transducers are determined by the delta, alpha, beta, gamma parameters.
In addition to solving the precise positioning problem of the ultrasound guided needle, additional design requirements for the practicality of the bi-planar ultrasound transducer need to be considered. Different application scenarios require different transducer geometry types, such as linear transducers applied to the shallow and convex transducers applied to the abdomen. For the simplicity of the problem and the evaluation of the effectiveness of the project, the biplane ultrasonic transducer is designed by taking the kidney puncture biopsy as an application scene, so the biplane ultrasonic transducer meets the kidney puncture biopsy requirement. The design requirements of a biplane ultrasound transducer are summarized below, around which the subsequent biplane ultrasound transducer will be deployed.
1) The transducer is as conforming to the skin surface as possible.
2) The depth of the blind area of the needle is smaller than the target depth.
3) The transducer is sized to meet the placement requirements of the penetrating portion.
4) The length of the needle insertion path is reduced as much as possible, and the damage of puncture to human body is reduced.
5) The biplane ultrasonic transducer is suitable for kidney puncture biopsy.
6) The planned penetration path should ensure that the penetration target is as close to the middle of the imaging region of the transducer as possible.
Figure 5 shows the geometric relationship of the needle to the target and human skin and some important geometric parameters during the ultrasound penetration process. In the design of ultrasound probes, a major consideration is. During the puncturing process, the puncturing instrument is covered by ultrasonic energy and displayed in imaging after a certain distance is entered by the puncturing instrument due to the limited scanning angle of the ultrasonic transducer and the distance between the puncturing needle and the transducer. The area which cannot be monitored by ultrasonic imaging is the blind area on the needle insertion path, and the depth of the blind area is obviously smaller than the target depth. The needle insertion angle represents the included angle between the needle insertion path of the puncture instrument and the skin surface, and the greater the needle insertion angle, the smaller the length of the puncture needle which needs to travel in human tissue under the condition of fixed puncture target depth. On the other hand, for a puncture target with a fixed depth, if the needle insertion angle is too large, the target is excessively deviated from the center of the scanning plane of the transducer, which is not beneficial to the display of the puncture target by the ultrasonic probe.
In biplane ultrasound imaging, the intersection of two scan planes passing through the center of the short axis is used as the needle insertion path for the needle. According to the construction principle and geometric parameters of the biplane ultrasonic transducer, the needle insertion path of the biplane ultrasonic transducer can be calculated, and then the blind area depth and the needle insertion angle of the needle insertion path are obtained. In order to conveniently analyze the influences of the construction parameters delta, alpha, beta and gamma of the double-plane ultrasonic transducer on the needle insertion path, the needle insertion path of the double-plane ultrasonic transducer is analyzed by adopting a control variable method, when the influence of one parameter on the needle insertion path is considered, the rest parameters are kept unchanged, and the parameter settings when the parameters are kept unchanged are shown in the following table.
Table 1 geometric parameters of biplane ultrasound transducer
Fig. 6 depicts the variation of the blind zone depth and the needle insertion angle of the needle insertion path when the delta, alpha, beta and gamma parameters are varied, respectively. As can be seen from the figure, the effect of the alpha parameter on the needle insertion path is small, and at the same time, the alpha parameter adjustment range is limited because alpha is the pitch angle of the transducer rotating around the short axis and cannot be made at a large angle. The beta parameter mainly influences the needle inserting angle, a large needle inserting angle can be realized by the smaller beta parameter, but the overlarge beta parameter can cause overlarge needle inserting angle, so that the display of a puncture target in the center of a scanning plane is not facilitated. Too small a gamma parameter will result in too great a blind spot depth, while too large a gamma parameter will result in too large a needle insertion angle. For the sake of fit, the two transducers on the biplane probe need to be staggered a distance closer together, and the corresponding delta parameter must not be too small. On the other hand, while ensuring the fit, continuing to increase the delta parameter results in an unnecessary increase in the blind zone depth. Meanwhile, in the laminating test of the biplane ultrasonic probe, when delta is more than or equal to 4mm, alpha is less than or equal to 10 degrees, beta is less than or equal to 20 degrees, and gamma is near 90 degrees, the probe can keep better tissue laminating performance.
For simplicity of the problem and evaluation of the effectiveness of the project, the biplane ultrasonic transducer will be designed with a kidney puncture biopsy as the application scenario, and the depth of the kidney puncture focus is typically between 30mm and 100 mm. In order to reduce the penetration path length as much as possible while making the blind zone depth much smaller than the depth of the kidney penetration lesion, it was determined based on the above-described parametric analysis that δ is equal to 4mm, α is equal to 10 °, β is equal to 20 ° and γ is equal to 90 °. At this time, the blind area depth of the biplane ultrasonic transducer is 9mm, the needle insertion angle is 64.5 degrees, and the blind area depth is far smaller than the focus depth of kidney puncture.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. While still being apparent from variations or modifications that may be made by those skilled in the art are within the scope of the invention.
Claims (6)
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| CN110738694A (en) * | 2019-10-12 | 2020-01-31 | 北京京声普探科技有限公司 | Pelvis registration method in labor process navigation systems |
| CN113133832A (en) * | 2021-03-26 | 2021-07-20 | 中国科学院深圳先进技术研究院 | Calibration method and system for double-arm robot puncture system |
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