Three-dimensional ultrasonic scanning system based on monocular vision positioning and control method

Abstract

The invention discloses a three-dimensional ultrasonic scanning system based on monocular vision positioning. The three-dimensional ultrasonic scanning system comprises an examination bed, a linear laser array, an ultrasonic probe, a high-definition camera and an upper computer, wherein the examination bed is provided with a height adjusting device; a to-be-examined person lies on the examinationbed, and the to-be-examined part of the examined person is marked with a scanning path; the linear laser array comprises a plurality of laser devices which are uniformly distributed, is fixedly arranged above the examination bed, and is parallel with the upper surface of the examination bed; the high-definition camera is provided with a high-definition colorful CMOS (complementary metal oxide semiconductor) detector and a focusing lens with long depth of field, and the upper surface of the examination bed is positioned in a visual field of the high-definition camera. The control method comprises the following steps of S1, manufacturing a three-dimensional mapping table; S2, obtaining three-dimensional coordinates of the scanning path; S3, obtaining a B-mode ultrasonic image and corresponding three-dimensional coordinates of the center position of the ultrasonic probe; S4, obtaining reconstruction data of a three-dimensional ultrasonic image. The three-dimensional ultrasonic scanning system and the control method have the advantages that the complicated computation required by the traditional visual positioning system is avoided, and the accuracy of three-dimensional scanning imaging is ensured.

Description

technical field [0001] The invention specifically relates to a three-dimensional ultrasonic scanning system and a control method based on monocular vision positioning. Background technique [0002] Ultrasound imaging is a non-radiative and cheap medical imaging method. According to the difference between transmitting and receiving ultrasound methods, ultrasound imaging is divided into multiple working modes, among which B-mode imaging is the most commonly used working mode. B-mode images can reflect tissue distribution information in scanning tomography, but identifying ultrasonic tomographic image information requires not only a clear understanding of the three-dimensional structure of human tissue, but also a thorough understanding of the echo characteristics of ultrasound in tissue. The birth of three-dimensional ultrasound imaging has improved the effect of tissue visualization and reduced the possible errors caused by the subjective construction of three-dimensional mod...

AI Technical Summary

Problems solved by technology

[0003] Since the development of three-dimensional ultrasound, several technical solutions have emerged: a common solution is to use an area array ultrasound probe for scanning, but the area array ultrasound probe is expensive

[0006] The sensor system requirements for visual positioning are relatively simple, and there is no electromagnetic interference problem. It has obvious advantages in the medical field, but the increase in computational complexity brought about by binocular vision is difficult to meet the real-time positioning requirements.

Due to the projection effect of the high-definition camera in the monocular vision system, the acquired image information loses the depth information in the direction of the optical axis

Although there are reports on the application of depth cameras in monocular vision, aside from the high cost of depth cameras, the current depth resolution of depth cameras cannot meet the positioning requirements required for free-hand 3D ultrasound scanning

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