CN116058867B - A lightweight imaging ultrasound system with unfixed scanning probe and an ultrasound detection method - Google Patents
A lightweight imaging ultrasound system with unfixed scanning probe and an ultrasound detection method Download PDFInfo
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Abstract
本发明提出了一种不固定扫描探头的轻量型成像超声系统，所述成像超声系统包括无线扫描探头、终端设备、三维成像计算设备；其中，所述无线扫描探头以无线方式分别向终端设备和三维成像计算设备传输超声图像数据和探头的加速度、角速度数据；所述终端设备向三维成像计算设备提供所需的二维超声图像；所述三维成像计算设备将重建完成的三维超声数据传输至终端设备。本发明解决了医生对二维超声图像难以理解的问题，能够使医生通过实时三维视图更直观地理解组织器官结构，以更高效率的方式培训医生做超声扫描和理解二维超声图，解决超声医生培训耗时长的问题。
The present invention proposes a lightweight imaging ultrasound system without a fixed scanning probe, the imaging ultrasound system includes a wireless scanning probe, a terminal device, and a three-dimensional imaging computing device; wherein the wireless scanning probe transmits ultrasound image data and the acceleration and angular velocity data of the probe to the terminal device and the three-dimensional imaging computing device in a wireless manner respectively; the terminal device provides the required two-dimensional ultrasound image to the three-dimensional imaging computing device; the three-dimensional imaging computing device transmits the reconstructed three-dimensional ultrasound data to the terminal device. The present invention solves the problem that doctors find it difficult to understand two-dimensional ultrasound images, enables doctors to understand tissue and organ structures more intuitively through real-time three-dimensional views, trains doctors to perform ultrasound scanning and understand two-dimensional ultrasound images in a more efficient way, and solves the problem of time-consuming ultrasound doctor training.
Description
Technical Field
The invention belongs to the technical field of ultrasound, and relates to a light-weight imaging ultrasound system with an unfixed scanning probe and an ultrasound detection method.
Background
In the medical field, ultrasonic scanning detection is widely used in clinical diagnosis due to its unique advantages. Compared with Computed Tomography (CT) and Magnetic Resonance Imaging (MRI), the ultrasonic imaging technology has the advantages of non-invasive, non-radiative, low cost and the like. In conventional ultrasound examination, a doctor places an ultrasound scanning probe on a patient's body to scan, so as to obtain a two-dimensional image of a cross section of a human tissue organ. In this conventional manner, however, the physician must reconstruct a two-dimensional ultrasound image into the three-dimensional anatomy of the human body in the brain. In order to be able to do this, however, the doctor must be trained professionally, and the training process takes a lot of time and money. Compared with a two-dimensional ultrasonic image, the three-dimensional ultrasonic image can provide the whole volume condition of the region of interest, and a more visual space structure is provided for doctors.
Early three-dimensional reconstruction of ultrasound images can be accomplished in three stages, acquisition, reconstruction, and visualization, respectively. The specific flow is to collect a series of ultrasonic images obtained by ultrasonic scanning of the target position, and to perform visual display through a corresponding three-dimensional reconstruction algorithm. The three-dimensional reconstruction technology separates ultrasonic scanning, volume reconstruction and visualization phases, and belongs to non-real-time three-dimensional image reconstruction. In this reconstruction mode, the probe is typically translated, tilted and rotated by a micro-motor driven mechanism to effect cross-sectional scanning, and a series of two-dimensional ultrasound images of the examination area are acquired slowly and then recorded in a computer. The scanning is performed by a mechanical device for controlling and fixing the probe according to a preset scheme, so that the relative position and angle of each image can be known, but the scanning device is heavy, the scanning mode is inflexible and the like, and the three-dimensional reconstruction can be performed after the scanning, so that the scanning device is not practical clinically.
At present, the real-time three-dimensional reconstruction of a two-dimensional ultrasonic image is realized, and the main technology is that a sensor is added on an ultrasonic probe, then the ultrasonic probe is held by a hand to perform free arm scanning, the sensor transmits the recorded real-time spatial information such as the real-time spatial position of the ultrasonic probe and the scanning direction back to a computer in real time, the computer combines the real-time obtained two-dimensional ultrasonic image with the spatial information of the probe, and then the real-time three-dimensional reconstruction and visualization of the ultrasonic image are performed. The sensor positioning technology mainly includes optical positioning and electromagnetic positioning, for example, an optical positioning instrument is used to measure three-dimensional space position coordinates of an ultrasonic probe, such as a three-dimensional ultrasonic imaging method based on a space positioning device, a storage medium and equipment (patent publication number: CN113081033 a), and an electromagnetic tracking system is also used, that is, an ultrasonic probe with an electromagnetic sensor and an electromagnetic transmitter capable of tracking the position and direction of the electromagnetic sensor are used to perform positioning, such as a hand-held unconstrained scanning wireless three-dimensional ultrasonic real-time voxel imaging system (patent publication number: CN 111184535A). In addition, acoustic positioning technology is used, and the specific method is to fix three acoustic emission devices on an ultrasonic probe, fix a microphone array on a patient, and acquire positioning information through measuring the sound propagation time. Recently, a sensor Kinect with a depth camera is combined with an angle sensor to realize the positioning of an ultrasonic probe, such as a three-dimensional ultrasonic imaging method for reconstructing a two-dimensional ultrasonic image set (patent publication No. CN 107582098A).
Different sensors have different requirements on the applicable scene, so that certain disadvantages exist. The problem found in optical tracking positioning systems is that the markers mounted on the ultrasound probe are too large, resulting in an inconvenient ultrasound scanning process and the view of the camera cannot be blocked. The problem with electromagnetic positioning is that the surrounding ferrous metal can affect the magnetic field, resulting in a bias in position measurement. The problem with acoustic positioning is that the microphone must be placed above the patient so that the sound rays can reach unimpeded, and the distance between the transmitter and the microphone is sufficiently close to ensure that a high signal to noise ratio is achieved, and the speed of sound will vary with changes in air humidity, thus producing a certain error. The problem with the Kinect somatosensory detection device with the depth of field camera is that the requirement on environment and light intensity is higher when outdoor use is adopted, because the influence of strong natural light is easily received outdoors, the projected coded light is submerged, the effect cannot be satisfied, and the influence of smooth plane reflection is easily received. Therefore, the methods have the problems of large volume, wired constraint, incapability of truly freely moving and operating of ultrasonic equipment and the like.
In addition, an inertial navigation system-based three-dimensional ultrasonic reconstruction system (publication number: CN 114533111A) provides a method for ultrasonic three-dimensional reconstruction by using inertial navigation. The mentioned position calculation algorithm is too simple, the accuracy error of position calculation is too large, and because the data of the two-dimensional ultrasonic image and the IMU sensor are data acquired discretely in time, after the data are mapped to the real three-dimensional space, some vacant parts exist in the three-dimensional space, even if the sampling frequency is increased, the vacant parts still exist, so that the reconstruction result is inaccurate. Meanwhile, the method has the defect that the equipment is bound by a cable and cannot move and operate truly freely.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides a light-weight imaging ultrasonic system without a fixed scanning probe and an ultrasonic detection method.
The invention can guide doctors to scan and read two-dimensional images without difficulty through three-dimensional image reconstruction, namely, the invention can be free from the limitation of a fixed scanning probe of a mechanical arm, is free from the limitation of the abstract and unreadable two-dimensional images, and can obtain the expected optimal two-dimensional images by adopting free arm scanning.
Specifically, the invention realizes real-time three-dimensional reconstruction of a two-dimensional ultrasonic image by installing a wireless inertial measurement unit on a wireless ultrasonic probe and acquiring ultrasonic image data and space information by using the inertial measurement unit and the wireless ultrasonic probe, and finally simultaneously displays the two-dimensional ultrasonic image and the reconstructed three-dimensional ultrasonic image on a screen of a mobile device in real time. Because the two-dimensional ultrasonic image and the corresponding three-dimensional ultrasonic image can be simultaneously displayed on the mobile equipment, the three-dimensional ultrasonic image can more intuitively help doctors to understand the two-dimensional ultrasonic image, the problem that doctors are difficult to understand the two-dimensional ultrasonic image is solved, the doctors can more intuitively understand the tissue organ structure through real-time three-dimensional views, the doctors are trained to do ultrasonic scanning and understand the two-dimensional ultrasonic image in a more efficient mode, and the problem that the training time of the ultrasonic doctors is long is solved.
Secondly, the invention adopts a free scanning mode of the wireless ultrasonic probe to scan the interested part. Therefore, the scanning mode of the imaging system is flexible, light and small, and the problems of fixed/semi-fixed scanning mode and heavy scanning device of the traditional three-dimensional ultrasonic imaging system are solved.
The invention provides a light imaging ultrasonic system with an unfixed scanning probe, which comprises a wireless scanning probe, a terminal device and a three-dimensional imaging computing device, wherein the wireless scanning probe is used for respectively transmitting ultrasonic image data and data such as acceleration, angular speed and the like of the probe to the terminal device and the three-dimensional imaging computing device in a wireless mode, the terminal device is used for providing a required two-dimensional ultrasonic image to the three-dimensional imaging computing device, and the three-dimensional imaging computing device is used for transmitting the reconstructed three-dimensional ultrasonic data to the terminal device.
The wireless scanning probe comprises two modules, namely a wireless ultrasonic probe module and a wireless inertial measurement unit module, and particularly, the wireless scanning probe acquires real-time spatial position information of the probe in the ultrasonic scanning process by installing the wireless inertial measurement unit on the wireless ultrasonic probe. The scanning probe is a wireless ultrasonic probe, and has the advantages of convenient wireless transmission and use, no constraint of cables, and lower power and longer endurance time. The wireless ultrasonic probe module is used for converting the coded and decoded ultrasonic echo signals into JPEG image data and transmitting the image data to the terminal equipment through the USB module or the WIFI module.
The wireless inertial measurement unit is arranged on the wireless ultrasonic probe and consists of a gyroscope and an accelerometer, the accelerometer is used for detecting triaxial acceleration signals of the ultrasonic probe, the gyroscope detects angular velocity signals, and the wireless inertial measurement unit module is used for transmitting three-dimensional attitude data of the probe to the three-dimensional imaging computing equipment through the wireless module. The inertial measurement unit has the advantages that the inertial measurement unit can be used for positioning the data without any external help, and the inertial measurement unit has low requirements on external environment, is not influenced by light and electromagnetic interference, and can even work under water.
The terminal device is a mobile display device provided with ultrasonic imaging software and is used for simultaneously and real-timely visualizing a two-dimensional ultrasonic image obtained by the ultrasonic probe and a three-dimensional ultrasonic image obtained by the three-dimensional imaging computing device. The terminal equipment establishes connection between the two-dimensional ultrasonic image and the three-dimensional imaging computing equipment through a Socket and uses a mobile network to communicate, the two-dimensional ultrasonic image is transmitted to the three-dimensional imaging computing equipment in real time, the three-dimensional imaging computing equipment transmits the three-dimensional ultrasonic image data after reconstruction back to the terminal equipment, and the terminal equipment synchronously displays the two-dimensional ultrasonic image and the three-dimensional ultrasonic image in real time. The terminal equipment is mobile equipment such as a mobile phone or tablet equipment, and has the advantages of small size, light weight and convenient operation.
The three-dimensional imaging computing equipment is a high-performance computer, real-time angular velocity and acceleration data of the ultrasonic probe obtained by the wireless inertial measurement unit in a three-dimensional space are transmitted to the three-dimensional imaging computing equipment through the 433 wireless transparent transmission module, then the three-dimensional imaging computing equipment is used for resolving the data to obtain the gesture of the ultrasonic probe and combining with a two-dimensional ultrasonic image obtained by the terminal equipment in real time to reconstruct three-dimensionally, and meanwhile, the reconstructed three-dimensional ultrasonic image data are transmitted to the terminal equipment.
In order to solve the problem that the existing method has a gap when pixel-to-voxel mapping is performed after the position resolving precision is poor and resolving, the invention provides a complete set of position resolving algorithm and three-dimensional reconstruction interpolation algorithm.
The three-dimensional imaging computing device carries out the principle of resolving the gesture and the position according to the data of the inertial measurement unit as follows:
Two coordinate systems are involved in the pose and position resolving process, one is the IMU (Inertial Measurement Unit) own coordinate system b and the other is the finally reconstructed reference coordinate system R, so that the information output by the IMU needs to be converted into the reference system through resolving.
The IMU comprises a triaxial accelerometer for measuring the change of triaxial acceleration during movement and a triaxial gyroscope for measuring the change of triaxial angular velocity.
(1) Three-axis gesture solution
The IMU outputs direction information in the form of quaternions. The general form of a quaternion is a scalar q 0 (angle of rotation), followed by a vector q (axis of rotation), q= (q 1,q2,q3)
The quaternion is similar to the complex number, and is formed by adding three imaginary units to a real numberComposition, and they have the following relationship: Each quaternion is 1, Is a linear combination of (a) and (b). For the followingThe geometrical meaning of itself is understood as a rotation, whereinRotation represents positive rotation of the Z-axis in the positive direction of the Y-axis in the plane of intersection of the Z-axis and the Y-axis,Rotation represents positive rotation of the X-axis in the positive direction of the Z-axis in the plane of intersection of the X-axis and the Z-axis,The rotation represents a positive rotation of the Y-axis in the positive direction of the X-axis in a plane where the Y-axis intersects the X-axis.
As shown in fig. 1, given an axis of rotation defined by a vectorThe quaternion may represent a rotation of rotation angle θ about this axis u:
thus an operation that converts vector v into a square rotation about the u-axis and with a rotation angle θ can be represented by a square of the quaternion, expressed as:
Wherein q *＝q0 -q is a conjugated quaternion of q.
The pose of the motion system b (the coordinate system of the ultrasound probe with IMU) with respect to the reference system R (the coordinate system of the final three-dimensional reconstruction) is completely determinable by both the rotation axis u and the rotation angle θ. A pose quaternion can be constructed with two parameters, u and θ:
the formula shows that the reference coordinate system R rotates around u by an angle theta and then coincides with the motion coordinate system b, so that the gesture of the motion coordinate system b can pass through the gesture quaternion Transformed into a pose in the reference frame R, the coordinate transformation formula is:
After the initial posture information is given, the posture quaternion recursion can be performed in real time to convert the rotation posture information of the IMU self coordinate system b into the rotation posture information of the reference coordinate system R, and the recursion formula of the posture quaternion is as follows:
wherein t represents the moment, and t starts from 0, so that the attitude quaternion of the current moment can be recursively derived from the attitude information of the previous moment, and the attitude information of the IMU at each moment can be further calculated.
(2) Solution of displacement
The triaxial accelerometer in the IMU can obtain the triaxial acceleration value at the current moment, but the acceleration of the earth gravity and the Ge-type acceleration generated by the earth rotation need to be compensated, and the acceleration is integrated to obtain the speed, namely the speed v k at the k moment can be obtained by the speed at the k-1 moment, the integration of the acceleration and an error compensation term:
Wherein Deltav g/cor(k) represents the influence of local gravitational acceleration and Ge acceleration at time k, and can be calculated by using the local latitude, the earth rotation angular velocity and the output of the IMU gyroscope, alpha (tau) is the output of the IMU accelerometer, The gesture transformation matrix can be obtained by converting gesture quaternions obtained by the first step of calculation,Representing the transformation of the acceleration output of the IMU from its own coordinate system b to the reference coordinate system R, the subscript k representing time.
(3) Positioning
The position P k at the k time can be obtained by integrating and accumulating the speeds:
(4) Complete flow
Firstly, giving initial gesture, position and speed information of the IMU, then moving the ultrasonic probe with the IMU, and carrying out real-time recursion by combining gesture calculation and displacement calculation along with time, so that the real-time position of the current ultrasonic probe can be obtained, and the final positioning is completed. The invention is different from the simple integral of IMU data in the existing method, because the gesture and the position of the current ultrasonic probe are solved by dynamically recursively in real time through gesture quaternion, and the influence of earth gravity and autorotation on IMU output is considered, the precision of the solved gesture and position is higher.
The invention also provides an ultrasonic detection method using the imaging ultrasonic system, which comprises the following steps:
The method comprises the steps of firstly, acquiring data by moving and rotating a wireless scanning probe, wherein the data comprise ultrasonic data of a region to be detected, acceleration, angular velocity and other information measured by an inertial measurement unit;
step two, transmitting the ultrasonic data acquired by the wireless scanning probe to terminal equipment;
step three, the terminal equipment performs visualization of the two-dimensional ultrasonic image according to the ultrasonic data, and transmits the two-dimensional ultrasonic image to a three-dimensional imaging computing platform;
Transmitting the information such as acceleration, angular velocity and the like obtained by measurement to a three-dimensional imaging calculation platform by an inertia measurement unit;
and fifthly, carrying out three-dimensional reconstruction by the three-dimensional imaging computing platform according to the two-dimensional ultrasonic image obtained in the step three and the information such as acceleration, angular velocity and the like obtained in the step four in combination with an interpolation algorithm, transmitting three-dimensional ultrasonic image data to terminal equipment for visualization if the reconstruction is completed, ending ultrasonic detection, and returning to the step one for carrying out the subsequent steps again if the reconstruction is not completed.
The interpolation algorithm and visualization in the three-dimensional reconstruction process are described as follows:
(1) Interpolation algorithm
In the fifth step, the three-dimensional computing device synchronizes the two-dimensional ultrasound image with the information output by the IMU according to the timestamp information, then calculates the position of each frame of two-dimensional ultrasound image in the three-dimensional space according to the foregoing resolving process, and then completes the final three-dimensional reconstruction by using the interpolation algorithm for the empty voxels which are not mapped in the three-dimensional space.
The method finally uses voxels to represent the three-dimensional ultrasonic data after reconstruction, wherein the voxels are cube blocks with fixed sizes in the three-dimensional space, are the minimum units which are most used for representing the three-dimensional data, and correspond to pixels in the two-dimensional image. The two-dimensional ultrasonic image is a gray level image, each pixel has a determined gray level value, and the interpolation algorithm assigns the gray level value of the pixel in the two-dimensional ultrasonic image to a corresponding voxel through a certain strategy according to the positioning information.
The interpolation algorithm of the three-dimensional reconstruction method adopts a square distance weighting algorithm to complete interpolation, and the specific algorithm is described as follows:
Where I (V T) is the gray value of the target voxel, n is the number of pixels falling within a predefined sphere region centered at V T, I (P i) represents the gray value of the I-th pixel within the region, W i is the weight of the I-th pixel, inversely proportional to the square of the distance d to the sphere voxel V T, d being obtainable by a previous position solution. All voxels may ultimately be assigned a value by traversing each voxel. The schematic diagram of the algorithm is shown in fig. 2, and fig. 2 maps the three-dimensional space onto a two-dimensional plane, wherein the small square represents voxels in the three-dimensional space, the gray circular region represents a predefined sphere region, the straight line passing through the voxels represents a two-dimensional ultrasonic image, and the black dots on the straight line represent pixels.
(2) Visualization of
The three-dimensional computing equipment communicates with the terminal equipment through a Socket and a mobile network, and transmits the reconstructed three-dimensional voxel data to the terminal equipment in real time, the terminal equipment stores the data by using a buffer queue, performs volume drawing through a ray projection algorithm, finally renders the three-dimensional voxel data in real time, and simultaneously displays the three-dimensional voxel data and a two-dimensional ultrasonic image on a screen in a picture-in-picture mode.
The invention has the beneficial effects that the invention provides the wireless scanning probe with unfixed and high flexibility, and the wireless scanning probe is formed by installing the wireless inertial measurement unit on the wireless ultrasonic probe. The wireless ultrasonic probe has the advantages that the host and the probe are of an integrated lightweight design, the probe is small and exquisite and convenient to hold, the wireless ultrasonic probe is not limited by wires, and the images are transmitted in real time. The wireless inertial measurement unit is used for positioning, so that the measurement data can be obtained only by using the internal sensor without any external help, and in addition, the inertial measurement unit has lower requirements on external environment, is not influenced by light and electromagnetic interference, and can even work under water. The two-dimensional ultrasonic image and the three-dimensional ultrasonic image after reconstruction are displayed on the portable mobile device (such as a smart phone or a tablet computer) in real time, and the ultrasonic image displayed by the mobile device has the advantages of small size and convenience in carrying and carrying. The invention can carry out three-dimensional reconstruction of the ultrasonic image in real time during ultrasonic scanning, which solves the problems of low efficiency and long time consumption in the three-dimensional reconstruction process in the prior art. The wireless ultrasonic probe used by the invention integrates a host, the ultrasonic probe can directly encode and decode ultrasonic echo signals into JPEG image data, compared with the traditional ultrasonic equipment, the volume of the equipment is greatly reduced, the built-in WIFI module of the probe can transmit the image data to the terminal equipment in a wireless mode, and a sensor adopted for acquiring the three-dimensional posture of the probe is an inertial measurement unit, so that the real-time acceleration and the angular speed of the wireless probe can be transmitted to the three-dimensional computing platform in a wireless mode. The invention greatly improves the efficiency of three-dimensional reconstruction of the ultrasonic image, further can help doctors to understand the two-dimensional image by using the three-dimensional view in real time, and can solve the problems that the doctors are difficult to correctly scan and understand the two-dimensional ultrasonic image when training the ultrasonic doctors.
Drawings
FIG. 1 is a schematic representation of the rotation axis transformation in resolving gestures in accordance with the present invention.
Fig. 2 is a schematic diagram of an interpolation algorithm used in the present invention.
Fig. 3 is a system block diagram of an imaging ultrasound system of the present invention with a scanning probe free.
Fig. 4 is a block diagram of an ultrasonic probe and an inertial measurement unit used in the present invention.
Fig. 5 is an internal structural view of a wireless scanning probe with an inertial measurement unit of the present invention.
FIG. 6 is a flow chart of an ultrasonic detection method of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the following specific examples and drawings. The procedures, conditions, experimental methods, etc. for carrying out the present invention are common knowledge and common knowledge in the art, except for the following specific references, and the present invention is not particularly limited.
The invention provides a light-weight imaging ultrasonic system with an unfixed scanning probe and an ultrasonic detection method, which are characterized in that ultrasonic original data are processed through a wireless ultrasonic probe and converted into image coding data, the image coding data are transmitted to terminal equipment for display, the terminal equipment transmits the obtained image data to a three-dimensional computing platform, a wireless inertial measurement unit in the probe transmits probe posture data obtained in real time to the three-dimensional computing platform, the three-dimensional computing platform utilizes all received data to reconstruct an ultrasonic image in a three-dimensional manner, the reconstructed three-dimensional data are finally transmitted to the terminal equipment, and the terminal equipment simultaneously displays a two-dimensional ultrasonic image and a three-dimensional ultrasonic image.
The system structure diagram of the invention is shown in figure 3, and consists of a wireless scanning probe, a terminal device and a three-dimensional imaging computing device. The external and internal structures of the wireless scanning probe are shown in fig. 4 and 5, and the wireless scanning probe consists of a wireless ultrasonic probe and a wireless inertial measurement unit, wherein a wireless 433 transparent transmission module is integrated in the wireless inertial measurement unit, and the wireless inertial measurement unit and the wireless ultrasonic probe work together with a battery in the wireless ultrasonic probe.
The specific flow of the ultrasonic detection method of the present invention is shown in fig. 6, and is specifically described as follows:
Step 1, scanning the interested human organ tissue by using a wireless ultrasonic probe provided with a sensor to collect ultrasonic signals. The scanning mode is to hold the ultrasonic probe, and the probe can be freely rotated and translated to repeatedly scan the interested part.
And 2, acquiring spatial information through a sensor arranged outside the wireless ultrasonic probe, wherein the selected sensor is an inertial measurement unit, the inertial measurement unit can transmit acceleration and angular velocity information of the wireless ultrasonic probe in the moving and rotating processes to the three-dimensional imaging computing equipment, and the data transmission mode is that the data are transmitted through a 433 wireless transparent transmission module.
And 3, transmitting the collected ultrasonic signals in the scanning process to the terminal equipment in real time by the wireless ultrasonic probe, wherein the transmission mode of the ultrasonic data is to transmit the ultrasonic signals through WIFI.
And 4, reconstructing an ultrasonic signal obtained from the ultrasonic probe into a two-dimensional ultrasonic image by the terminal equipment (a mobile phone or a tablet) in real time and visualizing the two-dimensional ultrasonic image at the terminal equipment.
And 5, transmitting the two-dimensional ultrasonic image to the three-dimensional imaging computing equipment through the mobile network in real time by the terminal equipment.
And 6, the three-dimensional imaging computing equipment calculates the acceleration and angular velocity information obtained by the inertial measurement unit to obtain the coordinate position of the ultrasonic probe in the three-dimensional space, and then reconstructs the three-dimensional ultrasonic image in real time by combining the two-dimensional ultrasonic image obtained in real time from the terminal equipment with the space information obtained by settlement.
And 7, transmitting the reconstructed three-dimensional ultrasonic image data to the terminal equipment when the three-dimensional imaging computing equipment passes through a network, and simultaneously visualizing the real-time two-dimensional ultrasonic image and the three-dimensional ultrasonic image by the terminal equipment to form contrast.
In this example, a wireless ultrasound probe is used in step 1. As shown in fig. 5, the two large scale integrated circuits a are controlled by 1 large scale integrated circuit B to perform the functions of transmitting high voltage pulses to and receiving echoes from an ultrasonic probe (the lowest 128 array elements of the ultrasonic probe). The two large-scale integrated circuits A are used for transmitting high-voltage driving pulses to the ultrasonic probe and receiving sound wave signals reflected by the probe, each large-scale integrated circuit A is used for respectively transmitting the high-voltage driving pulses to half of array elements and receiving the sound wave signals reflected by the probe, the transmitting and receiving functions are controlled and switched by the large-scale integrated circuit B, and the large-scale integrated circuit B is provided with at least 64 physical channels to finish analog front-end amplification and analog-to-digital conversion. The digital signal is converted into a brightness signal, the brightness signal is converted into JPEG through an internal coder and decoder, then the JPEG is transmitted to the WIFI module through the synchronous serial bus, and finally the digital signal is wirelessly transmitted to the terminal equipment through the WIFI module, so that the real-time performance of wireless transmission is realized and ensured. Meanwhile, the system also has a wired transmission function, and if the data is not transmitted by adopting WIFI, the large-scale integrated circuit B can also transmit the JPEG data to the terminal equipment in real time in a wired mode through USB.
In this example, the scanning mode of the wireless ultrasonic probe in step 1 is a free scanning mode that is not fixed, including a translation and a rotation ultrasonic probe, the translation wireless ultrasonic probe can detect longitudinal sections of different positions in the three-dimensional space of the target, the detected information can not be further increased only by the translation mode, the rotation ultrasonic sensor can detect the three-dimensional space of the target from different angles, and the translation and rotation movement modes are combined to detect the three-dimensional imaging area.
In this example, the sensor used in step 2 to detect the spatial position of the wireless ultrasonic probe uses an inertial measurement unit, and its main components include a gyroscope and an accelerometer, where the accelerometer is used to detect the three-axis acceleration signal of the wireless ultrasonic probe, and the gyroscope detects the angular velocity signal. The inertial measurement unit has the advantages that the inertial measurement unit can be used for positioning the data without any external help, and the inertial measurement unit has low requirements on external environment, is not influenced by light and electromagnetic interference, can work underwater, and is suitable for more application scenes. As shown in fig. 5, the inertial measurement unit is connected with the 433 wireless transparent transmission module by using an asynchronous serial bus, the inertial measurement unit transmits measured data to the 433 wireless transparent transmission module in real time through the asynchronous serial bus, and then the 433 wireless module transmits the data to the three-dimensional imaging computing device through a 433MHz wireless frequency band.
In this example, the three-dimensional imaging computing device in step 2 is a high-performance computer, and is capable of receiving two-dimensional ultrasound image data from the terminal device and data from the inertial measurement unit, performing three-dimensional reconstruction on the obtained data through a three-dimensional reconstruction algorithm, and finally transmitting the three-dimensional reconstruction to the terminal device through a mobile network.
In this example, in step 3, the terminal device is a mobile device such as a mobile phone or a tablet computer, and the wireless ultrasonic probe transmits the acquired ultrasound to the terminal device through a wireless transmission protocol, and the terminal device visualizes the ultrasound two-dimensional image and the ultrasound three-dimensional image.
The protection of the present invention is not limited to the above embodiments. Variations and advantages that would occur to one skilled in the art are included within the invention without departing from the spirit and scope of the inventive concept, and the scope of the invention is defined by the appended claims.
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