WO2022134647A1 - 病灶定位方法及病灶定位系统 - Google Patents

病灶定位方法及病灶定位系统 Download PDF

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Publication number
WO2022134647A1
WO2022134647A1 PCT/CN2021/115360 CN2021115360W WO2022134647A1 WO 2022134647 A1 WO2022134647 A1 WO 2022134647A1 CN 2021115360 W CN2021115360 W CN 2021115360W WO 2022134647 A1 WO2022134647 A1 WO 2022134647A1
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Prior art keywords
camera
reference view
actual
virtual
positioning
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PCT/CN2021/115360
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English (en)
French (fr)
Inventor
孙民意
胡红兵
邹颖
付兵
伍小兵
胡亮
张彩
黄浩然
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Chongqing Haifu Medical Technology Co Ltd
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Chongqing Haifu Medical Technology Co Ltd
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Priority to US18/031,456 priority Critical patent/US12616439B2/en
Priority to JP2023524412A priority patent/JP7563803B2/ja
Priority to CA3198932A priority patent/CA3198932A1/en
Priority to AU2021406651A priority patent/AU2021406651B2/en
Priority to KR1020237015344A priority patent/KR102908648B1/ko
Priority to EP21908650.1A priority patent/EP4268727B1/en
Publication of WO2022134647A1 publication Critical patent/WO2022134647A1/zh
Anticipated expiration legal-status Critical
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N7/00—Ultrasound therapy
    • A61N7/02—Localised ultrasound hyperthermia
    • A61N7/022—Localised ultrasound hyperthermia intracavitary
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/08—Clinical applications
    • A61B8/0833—Clinical applications involving detecting or locating foreign bodies or organic structures
    • A61B8/085—Clinical applications involving detecting or locating foreign bodies or organic structures for locating body or organic structures, e.g. tumours, calculi, blood vessels, nodules
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/42—Details of probe positioning or probe attachment to the patient
    • A61B8/4245—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/42—Details of probe positioning or probe attachment to the patient
    • A61B8/4245—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient
    • A61B8/4263—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient using sensors not mounted on the probe, e.g. mounted on an external reference frame
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
    • A61B8/4416—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device related to combined acquisition of different diagnostic modalities, e.g. combination of ultrasound and X-ray acquisitions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
    • A61B8/4444—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device related to the probe
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/46—Ultrasonic, sonic or infrasonic diagnostic devices with special arrangements for interfacing with the operator or the patient
    • A61B8/461—Displaying means of special interest
    • A61B8/463—Displaying means of special interest characterised by displaying multiple images or images and diagnostic data on one display
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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    • A61B8/52—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/5215—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data
    • A61B8/5238—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data for combining image data of patient, e.g. merging several images from different acquisition modes into one image
    • A61B8/5261—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data for combining image data of patient, e.g. merging several images from different acquisition modes into one image combining images from different diagnostic modalities, e.g. ultrasound and X-ray
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    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras

Definitions

  • the invention belongs to the technical field of ultrasonic therapy, and in particular relates to a lesion localization method and a lesion localization system.
  • High-intensity focused ultrasound therapy technology can form high-intensity, continuous ultrasound energy on the lesion by focusing the ultrasound, thereby producing transient high-temperature effects, cavitation effects, mechanical effects, and sonication effects, causing cell membranes, nuclear membrane ruptures, protein coagulation , selectively coagulative necrosis of the lesion tissue, so that the lesion loses the ability to proliferate, infiltrate and metastasize.
  • the B-ultrasound probe is usually used to guide and locate the lesion.
  • the B-ultrasound probe needs to be moved repeatedly to help the doctor imagine the anatomical structure around the lesion, analyze and find the location of the lesion. This operation The process is complicated and time-consuming.
  • the purpose of the present invention is to provide a method for locating a lesion and a system for locating a lesion, so as to solve the problems in the prior art that the process of locating a lesion is cumbersome and time-consuming.
  • the present invention provides a method for locating lesions.
  • the lesions are located by locating markers on the body surface, and during positioning, an image acquisition component is used to locate the markers.
  • the image acquisition component includes an ultrasonic probe and at least one camera, and the camera is distributed in the ultrasonic One or both sides of the fan-sweep plane of the probe, and the relative position of the ultrasonic probe is kept fixed, and the center line of the camera is parallel to the center line of the ultrasonic probe, and the method for locating the lesion includes:
  • a reference view is formed according to data collected in real time by the camera, the size of the reference view is a preset size, and a virtual marker point corresponding to the marker is formed in the reference view;
  • the method for forming a reference view according to data collected in real time by the camera includes:
  • the image acquisition component After the image acquisition component completes the pre-positioning instruction, determine whether the current view captured by the camera in real time contains a virtual marker corresponding to the marker;
  • the method for calculating the actual positioning trajectory further includes:
  • the motion boundary condition of the image acquisition component is defined according to the predetermined positioning height, and the ultrasonic probe is moved in a preset plane, wherein the preset plane is perpendicular to the center line of the ultrasonic probe and is different from the predetermined plane.
  • the plane corresponding to the bit height.
  • the method for forming the reference view includes:
  • the method for calculating the actual positioning trajectory includes calculating the actual lateral displacement and the actual longitudinal displacement respectively, wherein, calculating the Methods of actual longitudinal displacement include:
  • the virtual marker point is moved to the virtual longitudinal displacement required to coincide with the horizontal axis
  • the actual longitudinal displacement is calculated according to the virtual longitudinal displacement and the imaging scale relationship.
  • the method for calculating the actual lateral displacement includes: calculating according to the position of the virtual marker point in the reference view, calculating the virtual lateral displacement of the virtual marker point, And calculate the actual lateral displacement according to the virtual lateral displacement and the imaging scale relationship, and the calculation formula of the virtual lateral displacement satisfies:
  • L 0 is the virtual lateral displacement component
  • a is the center distance between the ultrasound probe and the camera
  • h 1 is the height distance between the ultrasound probe and the camera
  • h 2 is the pre-positioning height
  • ⁇ is the acquisition area of the camera in the lateral direction
  • L is the view width corresponding to the reference view in the horizontal direction.
  • the number of the cameras is two, including a first camera and a second camera, the first camera and the second camera are symmetrically distributed on both sides of the fan-sweep plane of the ultrasonic probe, the first camera, the second camera and the second camera.
  • the height difference of the ultrasonic probe is equal
  • the first reference view is formed by the first camera acquisition
  • the second reference view is formed by the second camera acquisition
  • the method for calculating the actual lateral displacement includes according to the first reference view.
  • the actual lateral displacement is calculated from the position of the virtual marker and the position of the virtual marker in the second reference view, and the calculation formula of the actual lateral displacement satisfies:
  • y is the actual lateral displacement component
  • a is the center distance between the ultrasound probe and each camera
  • L 1 is the lateral distance from the virtual marker point in the first reference view to the center of the view
  • L 2 is the virtual marker point in the second reference view.
  • the lateral distance of the view center; the viewing angles of the captured images of the first camera and the second camera in the lateral direction are both ⁇ ; the preset view widths of the first reference view and the second reference view are both L.
  • the number of the cameras is two, including a first camera and a second camera, the first camera and the second camera are distributed on both sides of the fan-sweep plane of the ultrasonic probe, and the center line of the first camera and the first camera.
  • the centerline of at least one of the cameras deviates from the mid-vertical plane of the fan-sweep plane of the ultrasound probe. The height difference between the first camera, the second camera and the ultrasound probe is equal.
  • the method for calculating the actual positioning trajectory includes: according to the position of the virtual marker point in the first reference view and the second reference view, calculate the virtual Lateral displacement and virtual longitudinal displacement; then calculate the actual lateral displacement and calculate the actual longitudinal displacement according to the virtual lateral displacement, the virtual longitudinal displacement and the imaging scale relationship;
  • the virtual mid-vertical projection line of the vertical plane establishes a coordinate system for the X-axis, and according to the positions of the virtual marker points of the first reference view and the second reference view, the coordinate calculation formula group of the virtual marker points is established:
  • y 1 (tan ⁇ 1 )x 1 +b 1 -a 1 tan ⁇ 1 ;
  • y 1 (tan ⁇ 2 )x 1 +b 2 -a 2 tan ⁇ 2 ;
  • the coordinates of the virtual marker point 41 are (x 1 , y 1 ), and ⁇ 1 is the angle between the virtual marker point 41 in the first reference view 4a and the fan-sweep plane (corresponding to the X axis) of the ultrasonic probe.
  • the first camera The coordinate position of 21 is (a 1 , b 1 ), the coordinate position of the second camera 22 is (a 2 , b 2 ), and ⁇ 2 is the virtual marker point 41 in the second reference view 4b and the ultrasonic probe fan sweep plane (corresponding to the X-axis).
  • a reference scale with a fixed position and shape corresponding to the reference view is set, the reference scale is correspondingly provided with a scale value, and the scale value is converted into a size value corresponding to the actual capture area of the camera according to the imaging scale and displayed.
  • each camera is grouped to form at least two camera groups, each camera group includes one or two cameras, and an actual positioning trajectory to be verified is formed according to a reference view collected and formed by one group of camera groups.
  • the actual positioning trajectory of the verification is obtained by verification to obtain the final actual positioning trajectory:
  • the number of the cameras is at least two, including a first camera and a second camera.
  • the first camera and the second camera are symmetrically distributed on both sides of the fan-sweep plane of the ultrasonic probe.
  • the center of the first camera and the second camera The lines are all located on the mid-vertical plane of the fan-scanning plane of the ultrasound probe, and the height difference between the first camera, the second camera and the ultrasound probe is equal.
  • a positioning trajectory calculating a second actual positioning trajectory according to a reference view correspondingly formed by the first camera and the second camera, and determining a final actual positioning trajectory according to the first positioning trajectory and the second positioning trajectory.
  • the number of the cameras is at least two, including a first camera and a second camera, the first camera and the second camera are distributed on both sides of the fan sweep plane of the ultrasonic probe, and the center line of the first camera is located in the ultrasonic probe fan.
  • the center line of the second camera deviates from the mid-vertical plane of the fan-scanning plane of the ultrasonic probe, and the height difference between the first camera, the second camera and the ultrasonic probe is equal.
  • the number of the cameras is at least three, including a first camera, a second camera and a third camera.
  • the first camera and the third camera are distributed on one side of the ultrasonic probe fan sweep plane, and the second camera is distributed on the ultrasonic probe fan sweep plane.
  • the center line of the third camera is located on the mid-vertical plane of the fan-sweep plane of the ultrasonic probe, and the center line of the first camera and the center line of the second camera are both deviated from the mid-vertical plane of the fan-sweep plane of the ultrasonic probe.
  • the height difference between the camera, the second camera, and the third camera is equal to the ultrasound probe.
  • the first actual positioning trajectory is calculated according to the reference view formed corresponding to the third camera, and the reference view formed corresponding to the first camera and the second camera is used. calculating a second actual positioning track, and determining a final actual positioning track according to the first positioning track and the second positioning track;
  • the number of the cameras is at least four, including a first camera, a second camera, a third camera and a fourth camera.
  • the first camera and the second camera are symmetrically distributed on both sides of the fan-scanning plane of the ultrasonic probe.
  • the centerlines of the first camera and the second camera are located on the vertical plane of the fan-sweep plane of the ultrasound probe, the third camera and the fourth camera are distributed on both sides of the fan-sweep plane of the ultrasound probe, and the third camera and the fourth
  • the centerlines of the cameras are all deviated from the mid-vertical plane of the fan-sweep plane of the ultrasonic probe.
  • the first actual positioning trajectory is calculated according to the reference views formed by the first camera and the second camera, and the first actual positioning trajectory is calculated according to the reference views formed by the third camera and the fourth camera.
  • a second actual positioning track determining a final actual positioning track according to the first positioning track and the second positioning track;
  • the number of the cameras is at least four, including a first camera, a second camera, a third camera and a fourth camera.
  • the first camera and the second camera are symmetrically distributed on both sides of the fan-scanning plane of the ultrasonic probe.
  • the centerlines of the first camera and the second camera are located on the vertical plane of the fan-sweep plane of the ultrasound probe, the third camera and the fourth camera are distributed on both sides of the fan-sweep plane of the ultrasound probe, and the third camera and the fourth
  • the centerlines of the cameras are all deviated from the mid-vertical plane of the fan-sweep plane of the ultrasonic probe.
  • the first actual positioning trajectory is calculated according to the reference views formed by the first camera and the second camera, and the first actual positioning trajectory is calculated according to the reference views formed by the third camera and the fourth camera.
  • the third actual positioning trajectory is calculated according to the reference view corresponding to the first camera or the second camera, and the final actual positioning is determined according to the first positioning trajectory, the second positioning trajectory, and the third actual positioning trajectory. trajectory.
  • the method for locating lesions further includes:
  • the center line of the ultrasound probe is fused in the reference view as a virtual projection point
  • the present invention also provides a system for locating lesions, which locates lesions by locating markers on the body surface, including:
  • the image acquisition assembly has an ultrasonic probe and at least one camera, the camera is distributed on one side or both sides of the fan-sweep plane of the ultrasonic probe, and the relative position of the ultrasonic probe is kept fixed, and the camera head has a fixed relative position.
  • the centerline is parallel to the centerline of the ultrasonic probe;
  • a reference image display device which is used for displaying a reference view, the reference view is formed according to data collected in real time by the camera, the size of the reference view is fixed in value, and the reference view is formed with a corresponding mark. virtual marker;
  • a processor includes an actual positioning trajectory calculation unit, the actual positioning trajectory calculation unit is configured to be based on the position of the virtual marker point in the reference view, and according to the camera and the ultrasonic probe.
  • the actual positional relationship calculates the actual positioning trajectory that makes the centerline of the ultrasound probe coincide with the marker.
  • the lesion localization system further includes:
  • a pre-positioning instruction input unit which is used for inputting a pre-positioning instruction, so that the image capturing component moves above the mark according to the pre-positioning instruction
  • an actuator which is used to drive the image acquisition component to move
  • the processor includes a pre-positioning processing unit, and the pre-positioning processing unit is configured to control the movement of the execution mechanism according to the pre-positioning instruction, and after the execution mechanism completes the action corresponding to the pre-positioning instruction, It is judged whether the current view captured by the camera contains a virtual marker corresponding to the marker, and if so, the current view is used as a reference view.
  • the actual positioning trajectory calculation unit has a motion boundary condition calculation subunit for calculating motion boundary conditions, and the motion boundary condition calculation subunit is configured to define the image acquisition component according to the predetermined positioning height.
  • the movement boundary conditions make the ultrasonic probe move in a preset plane, wherein the preset plane is a plane perpendicular to the centerline of the ultrasonic probe and corresponding to the pre-positioning height.
  • the processor further includes an imaging unit, and the imaging unit is configured to: establish an imaging scale relationship between the current view and the area actually captured by the camera, and form the reference view according to the imaging scale relationship;
  • the centerline of the camera is located on the vertical plane of the fan-sweep plane of the ultrasonic probe, then,
  • the imaging unit is configured to: when the reference view is formed, the center line of the camera is located at the center of the reference view, and the reference view takes the projection of the mid-vertical plane of the ultrasonic fan-sweep plane as the horizontal axis and the vertical axis of the reference view.
  • the direction on the horizontal axis is the longitudinal direction;
  • the actual positioning trajectory calculation unit includes an actual lateral displacement calculation subunit and an actual longitudinal displacement calculation subunit, wherein the actual longitudinal displacement calculation subunit is configured to: according to the position of the virtual marker point in the reference view, a virtual The marker point is moved to a virtual longitudinal displacement required to coincide with the horizontal axis, and the actual longitudinal displacement is calculated according to the virtual longitudinal displacement and the imaging scale relationship.
  • the actual lateral displacement calculation subunit is configured to: calculate the virtual lateral displacement of the virtual marker point according to the position of the virtual marker point in the reference view. displacement, and calculate the actual lateral displacement according to the relationship between the virtual lateral displacement and the imaging scale,
  • L 0 is the virtual lateral displacement component
  • a is the center distance between the ultrasound probe and the camera
  • h 1 is the height distance between the ultrasound probe and the camera
  • h 2 is the pre-positioning height
  • ⁇ is the acquisition area of the camera in the lateral direction
  • L is the view width corresponding to the reference view in the horizontal direction.
  • the number of the cameras is two, including a first camera and a second camera, the first camera and the second camera are symmetrically distributed on both sides of the fan-sweep plane of the ultrasonic probe, the first camera, the second camera and the second camera.
  • the height difference of the ultrasonic probe is equal;
  • the imaging unit is configured as: a first reference view formed according to data collected by the first camera, and a second reference view formed according to data collected by the second camera;
  • the actual lateral displacement calculation subunit is configured to: calculate the actual lateral displacement according to the position of the virtual marker point in the first reference view and the position of the virtual marker point in the second reference view, the actual lateral displacement
  • the calculation formula satisfies:
  • y is the actual lateral displacement component
  • a is the center distance between the ultrasound probe and each camera
  • L 1 is the lateral distance from the virtual marker point in the first reference view to the center of the view
  • L 2 is the virtual marker point in the second reference view.
  • the lateral distance of the view center; the viewing angles of the captured images of the first camera and the second camera in the lateral direction are both ⁇ ; the preset view widths of the first reference view and the second reference view are both L.
  • the number of the cameras is two, including a first camera and a second camera, the first camera and the second camera are distributed on both sides of the fan-sweep plane of the ultrasonic probe, and the center line of the first camera and the first camera.
  • the center line of at least one of the two cameras deviates from the mid-vertical plane of the fan-sweep plane of the ultrasound probe, and the height difference between the first camera, the second camera and the ultrasound probe is equal;
  • the imaging unit is configured as: a first reference view formed according to data collected by the first camera, and a second reference view formed according to data collected by the second camera;
  • the actual positioning trajectory calculation unit is configured to: calculate a virtual lateral displacement and a virtual longitudinal displacement according to the positions of the virtual marker points in the first reference view and the second reference view; and then according to the virtual lateral displacement, Calculate the actual lateral displacement and calculate the actual longitudinal displacement through the virtual longitudinal displacement and the imaging scale relationship;
  • the virtual mid-vertical projection line of the vertical plane establishes a coordinate system for the X-axis, and according to the positions of the virtual marker points of the first reference view and the second reference view, the coordinate calculation formula group of the virtual marker points is established:
  • y 1 (tan ⁇ 1 )x 1 +b 1 -a 1 tan ⁇ 1 ;
  • y 1 (tan ⁇ 2 )x 1 +b 2 -a 2 tan ⁇ 2 ;
  • the coordinates of the virtual marker point 41 are (x 1 , y 1 ), and ⁇ 1 is the angle between the virtual marker point 41 in the first reference view 4a and the fan-sweep plane (corresponding to the X axis) of the ultrasonic probe.
  • the first camera The coordinate position of 21 is (a 1 , b 1 ), the coordinate position of the second camera 22 is (a 2 , b 2 ), and ⁇ 2 is the virtual marker point 41 in the second reference view 4b and the ultrasonic probe fan sweep plane (corresponding to the X-axis).
  • a reference scale is provided in the reference view or on the reference view display device, the reference scale is correspondingly provided with a scale value, and the scale value is converted into a size value corresponding to the actual capture area of the camera according to the imaging scale. show.
  • the lesion localization system is provided with at least two groups of camera groups, the number of each group of camera groups is one or two cameras, and each of the actual positioning trajectory calculation units obtains a to-be-calibrated camera according to one group of the camera groups.
  • the processor further includes a verification unit, and the verification unit obtains the final actual positioning trajectory according to at least two actual positioning trajectories to be verified.
  • the processor is further configured to:
  • the center line of the ultrasound probe is fused in the reference view as a virtual projection point
  • the lesion locating method and the lesion locating system of the present invention form a reference view by collecting image data with a camera, and use the reference view to assist the ultrasonic probe to perform rapid positioning, which can reduce the difficulty of positioning, improve the efficiency of locating the lesion, and save operation time.
  • FIG. 1 is a schematic diagram of an exemplary structure of an image acquisition assembly using a single camera in the present invention
  • Fig. 2 is a schematic diagram showing the positional relationship between the image acquisition assembly in Fig. 1, the marker and the lesion in the main view direction when the ultrasonic probe is at a pre-positioned height;
  • Fig. 3 shows the view of the image acquisition assembly in Fig. 1 in the direction of left view
  • Fig. 4 is a diagram showing the positional relationship between the ultrasonic probe, the camera and the marker when the ultrasonic probe of the image acquisition assembly in Fig. 1 is at a pre-positioning height;
  • FIG. 5 shows an exemplary reference view formed using the acquisition assembly of FIG. 1;
  • FIG. 6 is a diagram showing the positional relationship between the image acquisition component, the marker and the lesion when the ultrasound probe is at a pre-positioning height (the cameras are arranged symmetrically);
  • Fig. 7 shows the positional relationship diagram of the ultrasonic probe, the camera and the marker in Fig. 6;
  • FIG. 8 shows a first reference view correspondingly formed by using the image acquisition assembly of FIG. 6;
  • FIG. 9 shows a second reference view correspondingly formed by using the image capturing assembly of FIG. 6;
  • Fig. 10 shows the positional relationship between the image acquisition component, the marker and the lesion in the three-dimensional space when the ultrasound probe is at a pre-positioning height (asymmetrical arrangement of cameras);
  • Fig. 11 is a diagram showing the positional relationship between the image acquisition component, the marker and the lesion in the main viewing direction when the ultrasound probe is at a pre-positioning height (the camera is arranged asymmetrically);
  • Fig. 12 is a diagram showing the positional relationship between the image acquisition component and the marker and the lesion in the left view direction when the ultrasound probe is at a pre-positioned height (asymmetrical arrangement of cameras);
  • Fig. 13 is a schematic diagram of a coordinate system established by using the image acquisition assembly of Fig. 10 with the ultrasound probe as the origin;
  • Fig. 14 shows a first reference view correspondingly formed by using the image capturing assembly of Fig. 10;
  • FIG. 15 shows a second reference view correspondingly formed by using the image capturing assembly of FIG. 10 .
  • the present invention provides a method for locating a lesion.
  • the lesion 32 in the body is located by locating the marker 31 on the body surface.
  • an image acquisition component is used to locate the marker 31 so that the centerline 13 of the ultrasound probe 1 is aligned with the centerline 13 of the ultrasound probe 1.
  • the marks 31 are coincident, and the ultrasound probe 1 is aligned with the marks 31 , that is, aligned with the lesion 32 .
  • the image acquisition component includes an ultrasonic probe 1 and at least one camera 2. Each camera 2 is distributed on one side or both sides of the fan-sweep plane 11 of the ultrasonic probe 1, and the relative position of the camera 2 is kept fixed.
  • the centerline 23 is parallel to the centerline 13 of the ultrasound probe 1, and the method for locating the lesion includes:
  • a reference view 4 is formed by collecting image data from the camera 2, and the ultrasonic probe 1 is used for rapid positioning at the position marked 31 points in the reference view 4. After the reference view 4 is formed, no manual operation is required. Referring to view 4, the image acquisition component is controlled to move to complete the positioning, which not only reduces the difficulty of positioning, but also improves the efficiency of locating lesions and saves operation time.
  • the method for forming the reference view 4 (S1) according to the data collected in real time by the camera 2 includes:
  • the ultrasonic probe 1 is a B-ultrasound probe, and the ultrasonic data collected by the B-ultrasound probe can be processed to obtain the current height distance. Read the current height distance. When the current height is obtained in this way, when the ultrasonic probe is at the pre-positioned height, the acquisition range of the ultrasonic probe needs to cover the marked point.
  • other devices can also be used to obtain the current height. However, this method of directly obtaining the current height distance by using the ultrasonic probe 1 is beneficial to simplify the equipment and reduce the cost.
  • the method of calculating the actual positioning trajectory (S2) further comprises:
  • the method of forming reference view 4 (S1) includes:
  • the preset value of the pre-positioning height when establishing the imaging proportional relationship, can be set, and the pre-positioning height can be made equal to the preset value by inputting the pre-positioning instruction, so that the proportional relationship is a fixed value, that is, in the actual positioning Before the trajectory, move the ultrasonic probe 1 to a position with a fixed height difference from the mark 31, which is beneficial to reduce the amount of calculation data and achieve faster positioning; of course, in the actual implementation process, the preset value of the pre-positioning height can also be used.
  • the variable establishes a calculation model of the imaging proportional relationship, and the actual imaging proportional relationship is calculated after the value of the pre-positioning height is obtained.
  • the imaging scale relationship can be calculated by the actual distance between the center line of the camera 2 and the side edge contour and the reference distance in the reference view 4 .
  • the method for calculating the actual positioning trajectory includes:
  • the method for calculating the actual longitudinal displacement includes:
  • the number of cameras 2 is one, then:
  • the method for calculating the actual lateral displacement includes:
  • L 0 is the virtual lateral displacement component
  • a is the center distance between the ultrasonic probe 1 and the camera 2
  • h 1 is the height distance between the ultrasonic probe 1 and the camera 2
  • h 2 is the pre-positioning height
  • ⁇ is the acquisition of the camera 2
  • L is the view width corresponding to the reference view 4 in the horizontal direction.
  • the fan-sweep plane 11 of the ultrasonic probe 1 may be in a fan shape, but is not limited to a fan shape.
  • the reference scale 42 with a fixed position and shape corresponding to the reference view is set, and the reference scale 42 is correspondingly provided with a scale value, and the scale value is converted into a size value corresponding to the actual capture area of the camera according to the imaging scale and displayed.
  • the reference scale 42 does not change its position with the movement of the image in the display window, nor does it change with the change of the imaging scale, so that the actual lateral displacement can be visually observed according to the scale 42.
  • the bit height h2 is preset as a fixed value, and the displayed scale value is a fixed value.
  • the reference scale can be formed in the reference view, or the scale can be set on a display screen or other device for displaying the reference view.
  • the number of cameras 2 is two, including a first camera 21 and a second camera 22 , and the first camera 21 and the second camera 22 are symmetrically distributed on the fan of the ultrasonic probe 1 .
  • the first reference view 4a (see FIG. 8) is collected by the first camera 21, and the The second reference view 4b (Fig. 9) has:
  • the method for calculating the actual lateral displacement includes: calculating the actual lateral displacement according to the position of the virtual marker 41 in the first reference view 4a and the position of the virtual marker 41 in the second reference view 4b.
  • y is the actual lateral displacement component
  • a is the center distance between the ultrasound probe 1 and each camera 2
  • L 1 is the lateral distance from the virtual marker point 41 in the first reference view 4a4 to the center of the view
  • L 2 is the second reference view 4b
  • the visual angles of the captured images of the first camera 21 and the second camera 22 in the lateral direction are both ⁇
  • the preset of the first reference view 4a and the second reference view 4b View width is L.
  • the number of cameras 2 is also two, including the first camera 21 and the second camera 22 , but the first camera 21 and the second camera 22 are distributed in the ultrasonic probe 1 On both sides of the fan-sweep plane 11, and the centerline of at least one of the centerline of the first camera and the centerline of the second camera deviates from the mid-vertical plane of the fan-sweep plane of the ultrasonic probe, the first camera 21, the second camera 22 is equal to the height difference of the ultrasonic probe 1.
  • the first reference view 4a formed by the first camera 21 and the second reference view 4b formed by the second camera 22 are:
  • the method for calculating the actual positioning trajectory includes:
  • the relative positions of the first camera 21 , the second camera 22 and the ultrasonic probe 1 are flexible, which is beneficial to avoid other devices during use, and has a wider range of adaptation.
  • the virtual projection point of the center line 13 of the ultrasonic probe 1 is used as the origin
  • the virtual fan-scanning projection line of the ultrasonic probe fan-scanning plane 11 is used as the Y-axis.
  • the virtual mid-vertical projection line of the mid-vertical plane 12 of the fan sweep plane 11 establishes a coordinate system for the X-axis, and according to the positions of the virtual markers 41 of the first reference view 4a and the second reference view 4b, the coordinate calculation formula of the virtual marker 41 is established Group:
  • y 1 (tan ⁇ 1 )x 1 +b 1 -a 1 tan ⁇ 1 ;
  • y 1 (tan ⁇ 2 )x 1 +b 2 -a 2 tan ⁇ 2 ;
  • the coordinates of the virtual marker point 41 are (x 1 , y 1 ), and ⁇ 1 is the angle between the virtual marker point 41 in the first reference view 4a and the fan-sweep plane (corresponding to the X axis) of the ultrasonic probe.
  • the first camera The coordinate position of 21 is (a 1 , b 1 ), the coordinate position of the second camera 22 is (a 2 , b 2 ), and ⁇ 2 is the virtual marker point 41 in the second reference view 4b and the ultrasonic probe fan sweep plane (corresponding to the X-axis).
  • each camera can be grouped to form at least two camera groups, each camera group includes one or two cameras, and an actual positioning track to be verified is formed according to the reference view collected and formed by one camera group. At least two actual positioning trajectories to be verified are obtained and verified to obtain the final actual positioning trajectory.
  • the number of cameras is at least two, including a first camera and a second camera, and the first camera and the second camera are symmetrically distributed on both sides of the fan-sweep plane of the ultrasound probe.
  • the center lines of the camera and the second camera are both located on the mid-vertical plane of the fan-sweep plane of the ultrasonic probe, and the height difference between the first camera, the second camera and the ultrasonic probe is equal.
  • the first actual positioning trajectory is calculated according to the first reference view or the second reference view correspondingly formed by the first camera or the second camera, that is, the first actual positioning trajectory is determined according to a single camera;
  • the second actual positioning trajectory is calculated from the reference view corresponding to the camera, that is, the second actual positioning trajectory is determined by two cameras, and the final actual positioning trajectory is determined according to the first positioning trajectory and the second positioning trajectory.
  • the number of cameras is at least two, including a first camera and a second camera, the first camera and the second camera are distributed on both sides of the fan-sweep plane of the ultrasonic probe, and the center line of the first camera is located at On the vertical plane of the fan scanning plane of the ultrasonic probe, the center line of the second camera deviates from the vertical plane of the fan scanning plane of the ultrasonic probe, and the height difference between the first camera, the second camera and the ultrasonic probe is equal.
  • the first actual positioning trajectory is calculated from the reference view formed corresponding to the cameras
  • the second actual positioning trajectory is calculated according to the reference views correspondingly formed by the two cameras
  • the final actual positioning trajectory is determined according to the first positioning trajectory and the second positioning trajectory;
  • the number of cameras is at least three, including a first camera, a second camera and a third camera
  • the first camera and the third camera are distributed on one side of the fan-sweep plane of the ultrasonic probe
  • the second camera is distributed on On the other side of the fan-sweep plane of the ultrasonic probe
  • the centerline of the third camera is located on the mid-vertical plane of the fan-sweep plane of the ultrasonic probe
  • the centerline of the first camera and the centerline of the second camera are both deviated from the center of the fan-sweep plane of the ultrasonic probe.
  • the height difference between the first camera, the second camera and the third camera and the ultrasound probe is equal.
  • the first actual positioning trajectory is calculated according to the reference view corresponding to the third camera, and according to the first camera and the second camera.
  • a second actual positioning trajectory is calculated corresponding to the formed first reference view and the second reference view, and a final actual positioning trajectory is determined according to the first positioning trajectory and the second positioning trajectory.
  • the number of cameras is at least four, including a first camera, a second camera, a third camera and a fourth camera, and the first camera and the second camera are symmetrically distributed on two sides of the fan-sweep plane of the ultrasound probe.
  • the center lines of the first camera and the second camera are located on the vertical plane of the fan-sweep plane of the ultrasound probe
  • the third camera and the fourth camera are distributed on both sides of the fan-sweep plane of the ultrasound probe
  • the centerlines of the three cameras and the fourth camera are all deviated from the mid-vertical plane of the fan-sweep plane of the ultrasonic probe.
  • the first actual positioning trajectory is calculated according to the reference view formed by the first camera and the second camera correspondingly. According to the correspondence between the third camera and the fourth camera
  • the formed reference view calculates a second actual positioning track, and determines a final actual positioning track according to the first positioning track and the second positioning track.
  • the number of cameras is at least four, including a first camera, a second camera, a third camera and a fourth camera, and the first camera and the second camera are symmetrically distributed on the fan-sweep plane of the ultrasound probe.
  • the center lines of the first camera and the second camera are located on the vertical plane of the fan-sweep plane of the ultrasonic probe
  • the third camera and the fourth camera are distributed on both sides of the fan-sweep plane of the ultrasonic probe
  • the center lines of the third camera and the fourth camera are both deviated from the mid-vertical plane of the ultrasonic probe fan-sweep plane, and the first actual positioning trajectory is calculated according to the reference view formed by the first camera and the second camera correspondingly.
  • the second actual positioning trajectory is calculated corresponding to the formed reference view
  • the third actual positioning trajectory is calculated according to the reference view correspondingly formed by the first camera or the second camera
  • the third actual positioning trajectory is calculated according to the first positioning trajectory, the second positioning trajectory, and the third actual positioning trajectory.
  • the positioning track determines the final actual positioning track.
  • the final actual positioning track When determining the final actual positioning track according to each positioning track to be verified (the first positioning track or the second positioning track or the third actual positioning track), if the difference between the positioning tracks to be checked is greater than the preset threshold, Then an abnormal warning signal can be issued; if the difference between the positioning trajectories of the standby calibration is less than or equal to the preset threshold, the average value of the positioning trajectories of the standby calibration can be calculated, and the average value can be used as the final actual positioning trajectory.
  • the actual positioning trajectory is determined by calculation, and then the movement of the ultrasonic probe 1 is controlled according to the calculated actual positioning trajectory, that is, the movement of the entire image acquisition component is controlled; in the actual implementation process, the actual positioning trajectory may not be performed. Instead, according to the actual positional relationship between the camera 2 and the ultrasound probe 1, the centerline 13 of the ultrasound probe 1 is fused as a virtual projection point in the reference view 4, and the virtual marker point 41 in the reference view 4 is based on the position of the virtual projection point.
  • the center line 23 of the camera 2 corresponds to the center position of the reference view on the reference view 4.
  • the projection point corresponds to the direction of the virtual marker point 41 , and the orientation of the centerline 23 of the ultrasound probe 1 and the centerline of the camera 2 , and the distance between the virtual projection point and the virtual marker point 41 are determined according to the imaging scale.
  • the present invention also provides a lesion locating system, which locates the lesion by locating the marker 31 on the body surface.
  • the detailed method and effect of the lesion locating system for locating the lesion refer to the above-mentioned lesion locating method.
  • the lesion locating system of the present invention includes:
  • the image acquisition assembly has an ultrasonic probe 1 and at least one camera 2, the camera 2 is distributed on one side or both sides of the fan-sweep plane 11 of the ultrasonic probe 1, and the relative position of the ultrasonic probe 1 is kept fixed , and the center line 23 of the camera head 2 is parallel to the center line 13 of the ultrasonic probe 1;
  • a reference view display device (not shown), which is used to display a reference view 4, the reference view 4 is formed according to the data collected in real time by the camera 2, the size of the reference view 4 is fixed in value, and the reference view 4 A virtual marker 41 corresponding to the marker 31 is formed in 4;
  • a processor (not shown), the processor includes an actual positioning trajectory calculation unit, the actual positioning trajectory calculation unit is configured to The actual positional relationship between the camera 2 and the ultrasonic probe 1 calculates an actual positioning trajectory that makes the centerline 13 of the ultrasonic probe 1 coincide with the mark 31 .
  • the above-mentioned processor can be a general-purpose processor, including a central processing unit (Central Processing Unit, referred to as CPU), a network processor (Network Processor, referred to as NP), etc.; it can also be a digital signal processor (Digital signal processor). Signal Processing (DSP), Application Specific Integrated Circuit (ASIC), Field Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
  • CPU Central Processing Unit
  • NP Network Processor
  • DSP Signal Processing
  • ASIC Application Specific Integrated Circuit
  • FPGA Field Programmable Gate Array
  • the lesion localization system further includes:
  • a pre-positioning instruction input unit which is used for inputting a pre-positioning instruction, so that the image capturing component moves above the mark 31 according to the pre-positioning instruction
  • an actuator which is used to drive the image acquisition component to move
  • the processor includes a pre-positioning processing unit, and the pre-positioning processing unit is configured to control the movement of the execution mechanism according to the pre-positioning instruction, and after the execution mechanism completes the action corresponding to the pre-positioning instruction, It is determined whether the current view captured and formed by the camera 2 contains a virtual marker 41 corresponding to the marker 31 , and if so, the current view is used as the reference view 4 .
  • the actual positioning trajectory calculation unit has a motion boundary condition calculation subunit for calculating motion boundary conditions, and the motion boundary condition calculation subunit is configured to define the image acquisition according to the predetermined positioning height
  • the movement boundary condition of the assembly makes the ultrasonic probe 1 move in a preset plane, wherein the preset plane is a plane perpendicular to the centerline 13 of the ultrasonic probe 1 and corresponding to the pre-positioning height.
  • the processor further includes an imaging unit configured to: establish an imaging scale relationship between the current view and the area actually captured by the camera 2 , and form the reference view 4 according to the imaging scale relationship.
  • the preset value of the pre-positioning height when establishing the imaging proportional relationship, can be set, and the pre-positioning height can be made equal to the preset value by inputting the pre-positioning command, so that the proportional relationship is a fixed value, that is, in the actual positioning Before the trajectory, move the ultrasonic probe 1 to a position with a fixed height difference from the mark 31, which is beneficial to reduce the amount of calculation data and achieve faster positioning; of course, in the actual implementation process, the preset value of the pre-positioning height can also be used.
  • the variable establishes a calculation model of the imaging proportional relationship, and the actual imaging proportional relationship is calculated after the value of the pre-positioning height is obtained.
  • the installation position of the camera 2 it is also possible to change the installation position of the camera 2, so that the current view collected by the camera 2 always contains part of the side edge contour of the ultrasonic probe 1.
  • the distance between the center line of the camera 2 The actual distance of the edge contour and the reference distance in reference view 4 are used to calculate the imaging scale relationship.
  • the center line 23 of the camera head 2 is located on the mid-vertical plane 12 of the fan-sweep plane 11 of the ultrasonic probe, then,
  • the imaging unit is configured such that when the reference view 4 is formed, the center line 23 of the camera 2 is located at the center of the reference view 4 , and the reference view 4 is based on the mid-vertical plane 12 of the ultrasonic fan-sweep plane 11 .
  • the projection is the horizontal axis, and the direction perpendicular to the horizontal axis is the vertical direction;
  • the actual positioning trajectory calculation unit includes an actual lateral displacement calculation subunit and an actual longitudinal displacement calculation subunit, wherein the actual longitudinal displacement calculation subunit is configured to: according to the position of the virtual marker 41 in the reference view 4 , the virtual marker point 41 is moved to the virtual longitudinal displacement required to coincide with the horizontal axis, and the actual longitudinal displacement is calculated according to the relationship between the virtual longitudinal displacement and the imaging scale.
  • the actual lateral displacement calculation subunit is configured to: calculate the virtual marker point 41 according to the position of the virtual marker 41 in the reference view 4 , and calculate the virtual Mark the virtual lateral displacement of point 41, and calculate the actual lateral displacement according to the virtual lateral displacement and the imaging scale relationship,
  • L 0 is the virtual lateral displacement component
  • a is the center distance between the ultrasonic probe 1 and the camera 2
  • h 1 is the height distance between the ultrasonic probe 1 and the camera 2
  • h 2 is the pre-positioning height
  • ⁇ is the acquisition of the camera 2
  • L is the view width corresponding to the reference view 4 in the horizontal direction.
  • reference view 4 is provided with a reference scale with a fixed position and shape, and reference scale 42 is correspondingly provided with a scale value, and the scale value is converted into a size value corresponding to the actual capture area of the camera according to the imaging scale and displayed,
  • a reference scale may also be provided on the reference view display device.
  • the number of the cameras 2 is two, including a first camera 21 and a second camera 22 , and the first camera 21 and the second camera 22 are symmetrically distributed on both sides of the fan-sweep plane 11 of the ultrasound probe 1 , the height difference between the first camera 21, the second camera 22 and the ultrasonic probe 1 is equal;
  • the imaging unit is configured as: a first reference view 4a formed according to data collected by the first camera 21, and a second reference view 4b formed according to data collected by the second camera 22;
  • the actual lateral displacement calculation subunit is configured to calculate the actual lateral displacement according to the position of the virtual marker 41 in the first reference view 4a and the position of the virtual marker 41 in the second reference view 4b, The formula for calculating the actual lateral displacement satisfies:
  • y is the actual lateral displacement component
  • a is the center distance between the ultrasound probe 1 and each camera 2
  • L 1 is the lateral distance from the virtual marker 41 in the first reference view 4a to the center of the view
  • L 2 is the second reference view 4b
  • the visual angles of the captured images of the first camera 21 and the second camera 22 in the lateral direction are both ⁇
  • the preset of the first reference view 4a and the second reference view 4b View width is L.
  • the number of the cameras 2 is two, including a first camera 21 and a second camera 22, and the first camera 21 and the second camera 22 are distributed on both sides of the fan-sweep plane 11 of the ultrasonic probe 1, And the center line of at least one of the center line of the first camera and the center line of the second camera deviates from the mid-vertical plane of the fan-sweep plane of the ultrasonic probe, and the height difference between the first camera 21 and the second camera 22 and the ultrasonic probe 1 is equal.
  • the relative positions of the first camera 21, the second camera 22 and the ultrasonic probe 1 are flexible, which is beneficial to avoid other equipment during use, and has a wider range of adaptation.
  • the imaging unit is configured to: a first reference view 4a formed according to the data collected by the first camera 21, and a second reference view 4b formed according to the data collected by the second camera 22;
  • the calculation unit of the actual positioning trajectory calculation unit is configured to: calculate the virtual lateral displacement and the virtual longitudinal displacement according to the position of the virtual marker 41 in the first reference view 4a and the second reference view 4b; Calculate the actual lateral displacement and calculate the actual longitudinal displacement according to the virtual lateral displacement, the virtual longitudinal displacement and the imaging scale relationship;
  • the virtual projection point of the center line of the ultrasonic probe 1 is taken as the origin, and the virtual fan-sweep projection line of the ultrasonic probe fan-sweep plane 11 is the Y-axis, and the ultrasonic probe fan-sweep plane
  • the virtual mid-vertical projection line of the mid-vertical plane 12 of 11 establishes a coordinate system for the X-axis. According to the positions of the virtual markers 41 of the first reference view 4a and the second reference view 4b, the coordinates of the virtual markers 41 are calculated.
  • y 1 (tan ⁇ 1 )x 1 +b 1 -a 1 tan ⁇ 1 ;
  • y 1 (tan ⁇ 2 )x 1 +b 2 -a 2 tan ⁇ 2 ;
  • the coordinates of the virtual marker point 41 are (x 1 , y 1 ), and ⁇ 1 is the angle between the virtual marker point 41 in the first reference view 4a and the fan-sweep plane (corresponding to the X axis) of the ultrasonic probe.
  • the first camera The coordinate position of 21 is (a 1 , b 1 ), the coordinate position of the second camera 22 is (a 2 , b 2 ), and ⁇ 2 is the virtual marker point 41 in the second reference view 4b and the ultrasonic probe fan sweep plane (corresponding to the X-axis).
  • the lesion localization system is provided with a plurality of camera groups, the number of each camera group is one or two cameras, and each actual positioning trajectory calculation unit obtains a to-be-to-be-acquired data according to a group of the camera groups.
  • the actual positioning trajectory to be verified the processor further includes a verification unit, and the verification unit obtains the final actual positioning trajectory according to at least two actual positioning trajectories to be verified.
  • the processor is further configured to:
  • the center line of the ultrasound probe is fused in the reference view as a virtual projection point

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Abstract

一种病灶定位方法及病灶定位系统，通过定位体表的标记（31）定位病灶（32），定位时，利用摄像头（2）辅助超声探头（1）进行定位，根据摄像头（2）实时采集的数据形成参考视图（4），参考视图（4）的尺寸为预设尺寸，且参考视图（4）中形成有与标记（31）对应的虚拟标记点（41）；根据虚拟标记点（41）在参考视图（4）中的位置，并根据摄像头（2）和超声探头（1）的实际位置关系确定使超声探头（1）的中心线（13）与标记（31）重合的实际定位轨迹。病灶定位方法通过摄像头（2）采集摄像数据形成参考视图（4），以参考视图（4）辅助超声探头（1）进行定位，能够降低定位难度，提高效率，节省操作时间。

Description

病灶定位方法及病灶定位系统 技术领域
本发明属于超声治疗技术领域，特别是涉及一种病灶定位方法及病灶定位系统。
背景技术
高强度聚焦超声治疗技术通过将超声波聚焦，可以在病灶上形成高强度、连续超声能量，从而产生瞬态高温效应、空化效应、机械效应和声化效应，使细胞膜、核膜破裂、蛋白质凝固，选择性地使病灶组织凝固性坏死，以使病灶失去增殖、浸润和转移的能力。
现有超声治疗设备在治疗过程中，通常通过B超探头引导定位病灶，定位过程中需多次反复运动B超探头以帮助医生想象病灶周围解剖结构，分析并寻找病灶所处位置，这一操作过程繁复，耗时长。
发明内容
鉴于以上所述现有技术的缺点，本发明的目的在于提供一种病灶定位方法及病灶定位系统，以解决现有技术中定位病灶过程繁琐、耗时长等问题。
为实现上述目的及其他相关目的：
本发明提供一种病灶定位方法，通过定位体表的标记定位病灶，定位时，采用图像采集组件进行标记定位，所述图像采集组件包括超声探头及至少一个摄像头，所述摄像头分布在所述超声探头的扇扫平面的一侧或两侧，并与所述超声探头的相对位置保持固定，且所述摄像头的中心线平行于所述超声探头的中心线，所述病灶定位方法包括：
根据所述摄像头实时采集的数据形成参考视图，所述参考视图的尺寸为预设尺寸，且所述参考视图中形成有与所述标记对应的虚拟标记点；
根据所述虚拟标记点在所述参考视图中的位置，并根据所述摄像头和所述超声探头的实际位置关系确定使所述超声探头的中心线与标记重合的实际定位轨迹。
可选的，根据所述摄像头实时采集的数据形成参考视图的方法包括：
输入预定位指令，使所述图像采集组件根据所述预定位指令移动至标记上方；
待所述图像采集组件完成该预定位指令后，判断摄像头实时采集的形成的当前视图中是否含有与标记对应的虚拟标记点；
若有，以所述当前视图作为所述参考视图，并以超声探头距离标记的当前高度距离作为 预定位高度，若无，则再次输入预定位指令，直至形成所述参考视图。
可选的，计算所述实际定位轨迹的方法还包括：
根据所述预定位高度限定所述图像采集组件的运动边界条件，使所述超声探头在预设平面内移动，其中，所述预设平面为垂直于超声探头的中心线，且与所述预定位高度相对应的平面。
可选的，形成所述参考视图的方法包括：
建立当前视图与摄像头实际采集区域的成像比例关系，根据所述成像比例关系形成所述参考视图；
设定所述预定位高度的预设值，并通过输入预定位指令使所述预定位高度等于所述预设值，使所述比例关系为定值；
或
以所述预定位高度的预设值为变量建立成像比例关系的计算模型，待获取预定位高度的数值后计算实际成像比例关系；
或
设定摄像头的安装位置，使摄像头采集的当前视图中始终有超声探头的部分侧边缘轮廓，在建立成像比例关系时，通过摄像头中心线距离侧边缘轮廓的实际距离和参考视图中的参考距离来计算成像比例关系。
可选的，所述摄像头的中心线位于超声探头扇扫平面的中垂面上时，形成所述参考视图时，所述摄像头的中心线位于所述参考视图的中心，所述参考视图以超声波扇扫平面的中垂面的投影为横轴，以垂直于所述横轴的方向为纵向，则计算所述实际定位轨迹的方法包括分别计算实际横向位移和实际纵向位移，其中，计算所述实际纵向位移的方法包括：
根据所述虚拟标记点在所述参考视图中的位置，虚拟标记点移动至与所述横轴重合所需的虚拟纵向位移，
根据所述虚拟纵向位移和所述成像比例关系计算所述实际纵向位移。
可选的，所述摄像头的数量为一个，则计算所述实际横向位移的方法包括：根据所述虚拟标记点在所述参考视图中的位置计算，计算所述虚拟标记点的虚拟横向位移，并根据所述虚拟横向位移和所述成像比例关系计算所述实际横向位移，所述虚拟横向位移的计算公式满足：
Figure PCTCN2021115360-appb-000001
其中，L 0为虚拟横向位移分量，a为超声探头与摄像头的中心距，h 1为超声探头与摄像头的高度距离，h 2为所述预定位高度，θ为摄像头的采集区域在横向方向上对应的可视角度，L为参考视图在横向方向对应的视图宽度。
可选的，所述摄像头的数量为两个，包括第一摄像头和第二摄像头，第一摄像头和第二摄像头对称分布在超声探头的扇扫平面的两侧，第一摄像头、第二摄像头与超声探头的高度差相等，所述第一摄像头采集形成的第一参考视图，所述第二摄像头采集形成的第二参考视图，计算所述实际横向位移的方法包括根据所述第一参考视图中虚拟标记点的位置和所述第二参考视图中虚拟标记点的位置计算所述实际横向位移，所述实际横向位移的计算公式满足：
Figure PCTCN2021115360-appb-000002
其中，y为实际横向位移分量，a为超声探头与各摄像头的中心距，L 1为第一参考视图中虚拟标记点距离视图中心的横向距离；L 2为第二参考视图中虚拟标记点距离视图中心的横向距离；第一摄像头和第二摄像头的采集图像在横向方向上的可视角度均为θ；第一参考视图和第二参考视图的预设视图宽度均为L。
可选的，所述摄像头的数量为两个，包括第一摄像头和第二摄像头，第一摄像头和第二摄像头分布在超声探头的扇扫平面的两侧，且第一摄像头的中心线和第二摄像头的中心线中至少有一个摄像头的中心线偏离超声探头扇扫平面的中垂面，第一摄像头、第二摄像头与超声探头的高度差相等，所述第一摄像头采集形成的第一参考视图，所述第二摄像头采集形成的第二参考视图，则计算所述实际定位轨迹的方法包括：根据虚拟标记点在所述第一参考视图和所述第二参考视图中的位置，计算虚拟横向位移和虚拟纵向位移；再根据所述虚拟横向位移、虚拟纵向位移及所述成像比例关系计算实际横向位移和计算实际纵向位移；
在计算所述虚拟横向位移和所述虚拟纵向位移时，以超声探头中心线的虚拟投影点为原点，以超声探头扇扫平面的虚拟扇扫投影线为Y轴，超声探头扇扫平面的中垂面的虚拟中垂投影线为X轴建立坐标系，根据所述第一参考视图和所述第二参考视图虚拟标记点的位置，建立虚拟标记点的坐标计算公式组：
y 1＝(tan θ 1)x 1+b 1-a 1tan θ 1；
y 1＝(tan θ 2)x 1+b 2-a 2tan θ 2；
其中，虚拟标记点41的坐标为(x 1，y 1)，θ 1为第一参考视图4a中虚拟标记点41与超 声探头扇扫平面(对应X轴)的夹角，所述第一摄像头21的坐标位置为(a 1，b 1)，所述第二摄像头22的坐标位置为(a 2，b 2)，θ 2为第二参考视图4b中虚拟标记点41与超声探头扇扫平面(对应X轴)的夹角。
可选的，对应所述参考视图设置位置和形状固定的参考标尺，所述参考标尺对应设置有刻度数值，且刻度数值根据成像比例换算成摄像头实际采集区域对应的尺寸数值显示。
可选的，对各摄像头分组形成至少两组摄像头组，每组摄像头组包括一个或两个摄像头，根据一组摄像头组采集形成的参考视图形成一待校验的实际定位轨迹，根据至少两待校验的实际定位轨迹获取校验获取最终的实际定位轨迹：
所述摄像头的数量至少有两个，包括第一摄像头和第二摄像头，第一摄像头和第二摄像头对称分布在超声探头的扇扫平面的两侧，所述第一摄像头和第二摄像头的中心线都位于超声探头扇扫平面的中垂面上，第一摄像头、第二摄像头与超声探头的高度差相等，定位病灶时，根据第一摄像头或第二摄像头对应形成的参考视图计算第一实际定位轨迹，根据第一摄像头和第二摄像头对应形成的参考视图计算第二实际定位轨迹，根据所述第一定位轨迹和所述第二定位轨迹确定最终实际定位轨迹。
或
所述摄像头的数量至少有两个，包括第一摄像头和第二摄像头，第一摄像头和第二摄像头分布在超声探头的扇扫平面的两侧，所述第一摄像头的中心线位于超声探头扇扫平面的中垂面上，第二摄像头的中心线偏离超声探头扇扫平面的中垂面，第一摄像头、第二摄像头与超声探头的高度差相等，定位病灶时，根据第一摄像头对应形成的参考视图计算第一实际定位轨迹，根据两个摄像头对应形成的参考视图计算第二实际定位轨迹，根据所述第一定位轨迹和所述第二定位轨迹确定最终实际定位轨迹；
或
所述摄像头的数量至少有三个，包括第一摄像头、第二摄像头和第三摄像头，第一摄像头、第三摄像头分布在超声探头扇扫平面的一侧，第二摄像头分布在超声探头扇扫平面的另一侧，第三摄像头的中心线位于超声探头扇扫平面的中垂面上，第一摄像头的中心线和第二摄像头的中心线均偏离超声探头扇扫平面的中垂面，第一摄像头、第二摄像头和第三摄像头与超声探头的高度差相等，定位病灶时，根据第三摄像头对应形成的参考视图计算第一实际定位轨迹，根据第一摄像头和第二摄像头对应形成的参考视图计算第二实际定位轨迹，根据所述第一定位轨迹和所述第二定位轨迹确定最终实际定位轨迹；
或
所述摄像头的数量至少有四个，包括第一摄像头、第二摄像头、第三摄像头和第四摄像头，第一摄像头和第二摄像头对称分布在超声探头的扇扫平面的两侧，所述第一摄像头和第二摄像头的中心线都位于超声探头扇扫平面的中垂面上，第三摄像头和第四摄像头分布在超声探头的扇扫平面的两侧，且所述第三摄像头和第四摄像头的中心线都偏离超声探头扇扫平面的中垂面，根据第一摄像头和第二摄像头对应形成的参考视图计算第一实际定位轨迹，根据第三摄像头和第四摄像头对应形成的参考视图计算第二实际定位轨迹，根据所述第一定位轨迹和所述第二定位轨迹确定最终实际定位轨迹；
所述摄像头的数量至少有四个，包括第一摄像头、第二摄像头、第三摄像头和第四摄像头，第一摄像头和第二摄像头对称分布在超声探头的扇扫平面的两侧，所述第一摄像头和第二摄像头的中心线都位于超声探头扇扫平面的中垂面上，第三摄像头和第四摄像头分布在超声探头的扇扫平面的两侧，且所述第三摄像头和第四摄像头的中心线都偏离超声探头扇扫平面的中垂面，根据第一摄像头和第二摄像头对应形成的参考视图计算第一实际定位轨迹，根据第三摄像头和第四摄像头对应形成的参考视图计算第二实际定位轨迹，根据第一摄像头或第二摄像头对应形成的参考视图计算第三实际定位轨迹，根据所述第一定位轨迹、所述第二定位轨迹、第三实际定位轨迹确定最终实际定位轨迹。
可选的，所述病灶定位方法还包括：
根据摄像头和超声探头的实际位置关系在参考视图中融合超声探头的中心线作为虚拟投影点；
确定所述实际定位轨迹时，根据参考视图中虚拟标记点与该虚拟投影点的位置关系，确定虚拟投影点与虚拟标记点重合所对应的运动方向，并根据该运动方向控制超声探头移动，直至参考视图中，直至虚拟投影点和虚拟标记点重合。
相应的，本发明还提供一种病灶定位系统，其通过定位体表的标记定位病灶，其包括：
图像采集组件，其具有超声探头和至少一个摄像头，所述摄像头分布在所述超声探头的扇扫平面的一侧或两侧，并与所述超声探头的相对位置保持固定，且所述摄像头的中心线平行于所述超声探头的中心线；
参考图像显示装置，其用于显示参考视图，所述参考视图根据所述摄像头实时采集的数据形成，所述参考视图的尺寸为数值固定，且所述参考视图中形成有与所述标记对应的虚拟标记点；
处理器，所述处理器包括实际定位轨迹计算单元，所述实际定位轨迹计算单元被配置为 根据所述虚拟标记点在所述参考视图中的位置，并根据所述摄像头和所述超声探头的实际位置关系计算使所述超声探头的中心线与标记重合的实际定位轨迹。
可选的，所述病灶定位系统还包括：
预定位指令输入单元，其用于输入预定位指令，使所述图像采集组件根据所述预定位指令移动至标记上方；及
执行机构，其用于带动图像采集组件移动；
其中，所述处理器包括预定位处理单元，所述预定位处理单元被配置为根据所述预定位指令控制所述执行机构移动，待所述执行机构执行完成该预定位指令对应的动作后，判断摄像头采集形成的当前视图中是否含有与标记对应的虚拟标记点，若有，则以当前视图作为参考视图。
可选的，所述实际定位轨迹计算单元具有用于计算运动边界条件的运动边界条件计算子单元，所述运动边界条件计算子单元被配置为根据所述预定位高度限定所述图像采集组件的运动边界条件，使所述超声探头在预设平面内移动，其中，所述预设平面为垂直于超声探头的中心线，且与所述预定位高度相对应的平面。
可选的所述处理器还包括成像单元，所述成像单元被配置为：建立当前视图与摄像头实际采集区域的成像比例关系，根据所述成像比例关系形成所述参考视图；
设定所述预定位高度的预设值，并通过输入预定位指令使所述预定位高度等于所述预设值，使所述比例关系为定值；
或
以所述预定位高度的预设值为变量建立成像比例关系的计算模型，待获取预定位高度的数值后计算实际成像比例关系；
或
设定摄像头的安装位置，使摄像头采集的当前视图中始终有超声探头的部分侧边缘轮廓，在建立成像比例关系时，通过摄像头中心线距离侧边缘轮廓的实际距离和参考视图中的参考距离来计算成像比例关系。
可选的，所述摄像头的中心线位于超声探头扇扫平面的中垂面上，则，
所述成像单元被配置为：形成所述参考视图时，所述摄像头的中心线位于所述参考视图的中心，所述参考视图以超声波扇扫平面的中垂面的投影为横轴，以垂直于所述横轴的方向为纵向；
实际定位轨迹计算单元包括实际横向位移计算子单元和实际纵向位移计算子单元，其中， 所述实际纵向位移计算子单元被配置为：根据所述虚拟标记点在所述参考视图中的位置，虚拟标记点移动至与所述横轴重合所需的虚拟纵向位移，根据所述虚拟纵向位移和所述成像比例关系计算所述实际纵向位移。
可选的，所述摄像头的数量为一个，则所述实际横向位移计算子单元被配置为：根据所述虚拟标记点在所述参考视图中的位置计算，计算所述虚拟标记点的虚拟横向位移，并根据所述虚拟横向位移和所述成像比例关系计算所述实际横向位移，
所述虚拟横向位移的计算公式满足：
Figure PCTCN2021115360-appb-000003
其中，L 0为虚拟横向位移分量，a为超声探头与摄像头的中心距，h 1为超声探头与摄像头的高度距离，h 2为所述预定位高度，θ为摄像头的采集区域在横向方向上对应的可视角度，L为参考视图在横向方向对应的视图宽度。
可选的，所述摄像头的数量为两个，包括第一摄像头和第二摄像头，第一摄像头和第二摄像头对称分布在超声探头的扇扫平面的两侧，第一摄像头、第二摄像头与超声探头的高度差相等；
所述成像单元被配置为：根据所述第一摄像头采集的数据形成的第一参考视图，根据所述第二摄像头采集的数据形成的第二参考视图；
所述实际横向位移计算子单元被配置为：根据所述第一参考视图中虚拟标记点的位置和所述第二参考视图中虚拟标记点的位置计算所述实际横向位移，所述实际横向位移的计算公式满足：
Figure PCTCN2021115360-appb-000004
其中，y为实际横向位移分量，a为超声探头与各摄像头的中心距，L 1为第一参考视图中虚拟标记点距离视图中心的横向距离；L 2为第二参考视图中虚拟标记点距离视图中心的横向距离；第一摄像头和第二摄像头的采集图像在横向方向上的可视角度均为θ；第一参考视图和第二参考视图的预设视图宽度均为L。
可选的，所述摄像头的数量为两个，包括第一摄像头和第二摄像头，第一摄像头和第二摄像头分布在超声探头的扇扫平面的两侧，且第一摄像头的中心线和第二摄像头的中心线中至少有一个摄像头的中心线偏离超声探头扇扫平面的中垂面，第一摄像头、第二摄像头与超声探头的高度差相等；
所述成像单元被配置为：根据所述第一摄像头采集的数据形成的第一参考视图，根据所述第二摄像头采集的数据形成的第二参考视图；
所述实际定位轨迹计算单元被配置为：根据虚拟标记点在所述第一参考视图和所述第二参考视图中的位置，计算虚拟横向位移和虚拟纵向位移；再根据所述虚拟横向位移、虚拟纵向位移及所述成像比例关系计算实际横向位移和计算实际纵向位移；
在计算所述虚拟横向位移和所述虚拟纵向位移时，以超声探头中心线的虚拟投影点为原点，以超声探头扇扫平面的虚拟扇扫投影线为Y轴，超声探头扇扫平面的中垂面的虚拟中垂投影线为X轴建立坐标系，根据所述第一参考视图和所述第二参考视图虚拟标记点的位置，建立虚拟标记点的坐标计算公式组：
y 1＝(tan θ 1)x 1+b 1-a 1tan θ 1；
y 1＝(tan θ 2)x 1+b 2-a 2tan θ 2；
其中，虚拟标记点41的坐标为(x 1，y 1)，θ 1为第一参考视图4a中虚拟标记点41与超声探头扇扫平面(对应X轴)的夹角，所述第一摄像头21的坐标位置为(a 1，b 1)，所述第二摄像头22的坐标位置为(a 2，b 2)，θ 2为第二参考视图4b中虚拟标记点41与超声探头扇扫平面(对应X轴)的夹角。
可选的，所述参考视图中或所述参考视图显示装置上设置有参考标尺，所述参考标尺对应设置有刻度数值，且所述刻度数值根据成像比例换算成摄像头实际采集区域对应的尺寸数值显示。
可选的，所述病灶定位系统设置有至少两组摄像头组，每组摄像头组的数量为一个或两个摄像头，每个所述实际定位轨迹计算单元根据一组所述摄像头组获取一待校验的实际定位轨迹，所述处理器还包括校验单元，所述校验单元根据至少两待校验的实际定位轨迹获取最终的实际定位轨迹。
可选的，所述处理器还被配置为：
根据摄像头和超声探头的实际位置关系在参考视图中融合超声探头的中心线作为虚拟投影点；
确定所述实际定位轨迹时，根据参考视图中虚拟标记点与该虚拟投影点的位置关系，确定虚拟投影点与虚拟标记点重合所对应的运动方向，并根据该运动方向控制超声探头移动，直至参考视图中，直至虚拟投影点和虚拟标记点重合。
本发明的病灶定位方法及病灶定位系统，通过摄像头采集摄像数据形成参考视图，以参考视图辅助超声探头进行快速定位，能够降低定位难度，提高定位病灶效率，节省操作时间。
附图说明
图1显示为本发明中采用单个摄像头的图像采集组件的示例性的结构示意图；
图2显示为超声探头处于预定位高度时，图1中的图像采集组件在主视方向上与标记、病灶的位置关系示意图；
图3显示为图1中图像采集组件在左视方向上的视图；
图4显示为图1中图像采集组件的超声探头处于预定位高度时，超声探头、摄像头及标记的位置关系图；
图5显示为采用图1中的采集组件所形成的一示例性的参考视图；
图6为超声探头处于预定位高度时，图像采集组件与标记、病灶的位置关系图(摄像头对称布置)；
图7显示为图6中，超声探头、摄像头及标记的位置关系图；
图8显示为采用图6的图像采集组件对应形成的第一参考视图；
图9显示为采用图6的图像采集组件对应形成的第二参考视图；
图10显示为超声探头处于预定位高度时，图像采集组件在三维空间内与标记、病灶的位置关系图(摄像头非对称布置)；
图11显示为超声探头处于预定位高度时，图像采集组件在主视方向上与标记、病灶的位置关系图(摄像头非对称布置)；
图12显示为超声探头处于预定位高度时，图像采集组件在左视方向上与标记、病灶的位置关系图(摄像头非对称布置)；
图13显示为采用图10的图像采集组件以超声探头为原点建立的坐标系的示意图；
图14显示为采用图10的图像采集组件对应形成的第一参考视图；
图15显示为采用图10的图像采集组件对应形成的第二参考视图。
具体实施方式
以下由特定的具体实施例说明本发明的实施方式，熟悉此技术的人士可由本说明书所揭露的内容轻易地了解本发明的其他优点及功效。
须知，本说明书中所引用的如“上”、“下”、“左”、“右”、“中间”及“一”等的用语，亦仅为便于叙述的明了，而非用以限定本发明可实施的范围，其相对关系的改变或 调整，在无实质变更技术内容下，当亦视为本发明可实施的范畴。
本发明提供一种病灶定位方法，结合参见附图1～15，通过定位体表的标记31定位体内的病灶32，定位时，采用图像采集组件进行标记31定位使超声探头1的中心线13与标记31重合，超声探头1对准标记31，即对准病灶32。其中，图像采集组件包括超声探头1及至少一个摄像头2，各摄像头2分布在超声探头1的扇扫平面11的一侧或两侧，并与超声探头1的相对位置保持固定，且摄像头2的中心线23平行于所述超声探头1的中心线13，所述病灶定位方法包括：
S1、根据摄像头2(包含21、22)实时采集的数据形成参考视图4(包含41、42)，参考视图4的尺寸为预设尺寸，且参考视图4中形成有与标记31对应的虚拟标记点41；
S2、根据虚拟标记点41在参考视图4中的位置，并根据摄像头2和超声探头1的实际位置关系确定使超声探头1的中心线13与标记31重合的实际定位轨迹。
本发明的病灶定位方法，通过摄像头2采集摄像数据形成参考视图4，以参考视图4中标记31点的位置辅助超声探头1进行快速定位，在参考视图4形成后，无需人为操作，就能根据参考视图4控制图像采集组件移动完成定位，不仅降低了定位难度，还提高了定位病灶效率，节省操作时间。
在一些实施例中，根据摄像头2实时采集的数据形成参考视图4(S1)的方法包括：
S101、输入预定位指令，使图像采集组件根据预定位指令移动至标记31上方；
S103、待图像采集组件完成该预定位指令后，判断摄像头2实时采集的形成的当前视图中是否含有与标记31对应的虚拟标记点41；
若有，以当前视图作为参考视图4，并以超声探头1距离标记31的当前高度距离作为预定位高度h 2，若无，则再次输入预定位指令，直至形成参考视图4。
上述及下述实施例中的，超声探头1为B超探头，对B超探头采集的超声数据进行处理，可以获取当前高度距离，在现有的B超探测形成的超声视图中，还能够直接读取到当前高度距离，采用这种方式获取当前高度时，超声探头处于预定位高度时，超声探头的采集范围需要覆盖标记点，当然，在实际实施过程中，也可以采用其他装置获取当前高度距离，但这种利用超声探头1直接获取当前高度距离的方式，有利于简化设备，降低成本。
在一些实施例中，计算实际定位轨迹(S2)的方法还包括：
S201、根据预定位高度h 2限定图像采集组件的运动边界条件，使超声探头1在预设平面内移动，其中，预设平面为垂直于超声探头1的中心线13，且与预定位高度相对应的平面。这种先进行高度预定位然后将图像采集组件的运送范围的方式，有利于简化运动轨迹计算的 繁杂度，大幅提高定位病灶的效率。
在一些实施例中，形成参考视图4(S1)的方法包括：
S102、建立当前视图与摄像头2实际采集区域的成像比例关系，根据成像比例关系形成参考视图4。由于摄像头2的采集角度范围是固定参数，当摄像头2距标记31点的高度较近时，参考视图4对应的采集区域的实际面积是相对较小的，反之，当摄像头2距标记31点的高度较远时，参考视图4对应的采集区域的实际面积是相对较大的，这种导致成像比例随预定位高度的变化而发生变化。
在实际实施过程中，建立成像比例关系时，可以设定预定位高度的预设值，并通过输入预定位指令使预定位高度等于预设值，使比例关系为定值，也就是在实际定位轨迹前，将超声探头1移动至距离标记31有固定高度差的位置，有利于降低运算数据量，实现更快速的定位；当然，实际实施过程中，也可以以预定位高度的预设值为变量建立成像比例关系的计算模型，待获取预定位高度的数值后计算实际成像比例关系。
在实际实施过程中，还可以通过改变摄像头2的安装位置，使摄像头2采集的当前视图中始终有部分超声探头1的侧边缘轮廓43(参见图8、图9)，则在建立该成像比例关系时，可以通过摄像头2中心线距离侧边缘轮廓的实际距离和参考视图4中的参考距离来计算成像比例关系。
以下各实施例具体介绍如何计算实际定位轨迹：
在一些实施例中，结合参见图1至图9，摄像头2的中心线23位于超声探头扇扫平面11的中垂面12上时，形成参考视图4时，摄像头2的中心线23位于参考视图4的中心，参考视图4以超声波扇扫平面11的中垂面12的投影为横轴，以垂直于横轴的方向为纵向，则计算实际定位轨迹的方法包括：
S202、分别计算实际横向位移和实际纵向位移。
S2021、计算实际纵向位移的方法包括：
S2021a、根据虚拟标记点41在参考视图4中的位置，虚拟标记点41移动至与横轴重合所需的虚拟纵向位移；
S2021b、根据所述虚拟纵向位移和所述成像比例关系计算实际纵向位移。
在一些实施例中，参见图1至图55，摄像头2的数量为一个，则有：
S2022、计算实际横向位移的方法包括：
S2022a、根据虚拟标记点41在参考视图4中的位置计算，计算虚拟标记点41的虚拟横向位移，
S2022a、并根据虚拟横向位移和所述成像比例关系计算实际横向位移。
具体的，虚拟横向位移的计算公式满足：
Figure PCTCN2021115360-appb-000005
其中，L 0为虚拟横向位移分量，a为超声探头1与摄像头2的中心距，h 1为超声探头1与摄像头2的高度距离，h 2为所述预定位高度，θ为摄像头2的采集区域在横向方向上对应的可视角度，L为参考视图4在横向方向对应的视图宽度。
实际实施过程中，超声探头1的扇扫平面11可以呈扇形，但不局限于扇形。
在一些实施例中，对应参考视图设置位置和形状固定的参考标尺42，参考标尺42对应设置有刻度数值，且刻度数值根据成像比例换算成摄像头实际采集区域对应的尺寸数值显示，图5中，参考标尺42融合形成与参考视图4中，参考标尺42即不随显示窗口内的图像移动而改变位置，也不随成像比例的变化而改变，便于根据标尺42直观的观察到实际横向位移，若将预定位高度h 2预设为定值，显示的刻度数值为定值，既可以将该参考标尺形成于参考视图中，也可以将该标尺设置于显示屏等用于显示参考视图的装置上。
在另一些实施例中，参见图6至图9，摄像头2的数量为两个，包括第一摄像头21和第二摄像头22，第一摄像头21和第二摄像头22对称分布在超声探头1的扇扫平面11的两侧，第一摄像头21、第二摄像头22与超声探头1的高度差相等，第一摄像头21采集形成的第一参考视图4a(参见图8)，第二摄像头22采集形成的第二参考视图4b(图9)，则有：
S2022、计算实际横向位移的方法包括：根据第一参考视图4a中虚拟标记点41的位置和第二参考视图4b中虚拟标记点41的位置计算所述实际横向位移。
具体的，实际横向位移的计算公式满足：
Figure PCTCN2021115360-appb-000006
其中，y为实际横向位移分量，a为超声探头1与各摄像头2的中心距，L 1为第一参考视图4a4中虚拟标记点41距离视图中心的横向距离；L 2为第二参考视图4b中虚拟标记点41距离视图中心的横向距离；第一摄像头21和第二摄像头22的采集图像在横向方向上的可视角度均为θ；第一参考视图4a和第二参考视图4b的预设视图宽度均为L。
在还有一些实施例中，参见图10至图15，摄像头2的数量也为两个，包括第一摄像头21和第二摄像头22，但第一摄像头21和第二摄像头22分布在超声探头1的扇扫平面11的两侧，且第一摄像头的中心线和第二摄像头的中心线中至少有一个摄像头的中心线偏离超声 探头扇扫平面的中垂面，第一摄像头21、第二摄像头22与超声探头1的高度差相等，第一摄像头21采集形成的第一参考视图4a，第二摄像头22采集形成的第二参考视图4b，则有：
S202、计算实际定位轨迹的方法包括：
S2021、根据虚拟标记点41在第一参考视图4a(图14)和第二参考视图4b(图15)中的位置，计算虚拟横向位移和虚拟纵向位移；
S2022、再根据虚拟横向位移、虚拟纵向位移及成像比例关系计算实际横向位移和计算实际纵向位移。
这种方法中，第一摄像头21、第二摄像头22与超声探头1的相对设置位置灵活，在使用过程中有利于避让其它设备，适应范围更广。
具体的，S2021中，在计算虚拟横向位移和虚拟纵向位移时，以超声探头1中心线13的虚拟投影点为原点，以超声探头扇扫平面11的虚拟扇扫投影线为Y轴，超声探头扇扫平面11的中垂面12的虚拟中垂投影线为X轴建立坐标系，根据第一参考视图4a和第二参考视图4b虚拟标记点41的位置，建立虚拟标记点41的坐标计算公式组：
y 1＝(tan θ 1)x 1+b 1-a 1tan θ 1；
y 1＝(tan θ 2)x 1+b 2-a 2tan θ 2；
其中，虚拟标记点41的坐标为(x 1，y 1)，θ 1为第一参考视图4a中虚拟标记点41与超声探头扇扫平面(对应X轴)的夹角，所述第一摄像头21的坐标位置为(a 1，b 1)，所述第二摄像头22的坐标位置为(a 2，b 2)，θ 2为第二参考视图4b中虚拟标记点41与超声探头扇扫平面(对应X轴)的夹角。
在实际实施过程中，可以将各摄像头分组形成至少两组摄像头组，每组摄像头组包括一个或两个摄像头，根据一组摄像头组采集形成的参考视图形成一待校验的实际定位轨迹，根据至少两待校验的实际定位轨迹获取校验获取最终的实际定位轨迹。
具体的，在一些实施例中，摄像头的数量至少有两个，包括第一摄像头和第二摄像头，第一摄像头和第二摄像头对称分布在超声探头的扇扫平面的两侧，所述第一摄像头和第二摄像头的中心线都位于超声探头扇扫平面的中垂面上，第一摄像头、第二摄像头与超声探头的高度差相等。定位病灶时，根据第一摄像头或第二摄像头对应形成的第一参考视图或第二参考视图计算第一实际定位轨迹，也就是根据单个摄像头确定第一实际定位轨迹；根据第一摄像头和第二摄像头对应形成的参考视图计算第二实际定位轨迹，也就是通过两个摄像头确定第二实际定位轨迹，再根据所述第一定位轨迹和所述第二定位轨迹确定最终实际定位轨迹。
在另一些实施例中，摄像头的数量至少有两个，包括第一摄像头和第二摄像头，第一摄像头和第二摄像头分布在超声探头的扇扫平面的两侧，第一摄像头的中心线位于超声探头扇扫平面的中垂面上，第二摄像头的中心线偏离超声探头扇扫平面的中垂面，第一摄像头、第二摄像头与超声探头的高度差相等，定位病灶时，根据第一摄像头对应形成的参考视图计算第一实际定位轨迹，根据两个摄像头对应形成的参考视图计算第二实际定位轨迹，根据所述第一定位轨迹和所述第二定位轨迹确定最终实际定位轨迹；
在再一些实施例中，摄像头的数量至少有三个，包括第一摄像头、第二摄像头和第三摄像头，第一摄像头、第三摄像头分布在超声探头扇扫平面的一侧，第二摄像头分布在超声探头扇扫平面的另一侧，第三摄像头的中心线位于超声探头扇扫平面的中垂面上，第一摄像头的中心线和第二摄像头的中心线均偏离超声探头扇扫平面的中垂面，第一摄像头、第二摄像头和第三摄像头与超声探头的高度差相等，定位病灶时，根据第三摄像头对应形成的参考视图计算第一实际定位轨迹，根据第一摄像头和第二摄像头对应形成的第一参考视图和第二参考视图计算第二实际定位轨迹，根据所述第一定位轨迹和所述第二定位轨迹确定最终实际定位轨迹。
在又一些实施例中，摄像头的数量至少有四个，包括第一摄像头、第二摄像头、第三摄像头和第四摄像头，第一摄像头和第二摄像头对称分布在超声探头的扇扫平面的两侧，所述第一摄像头和第二摄像头的中心线都位于超声探头扇扫平面的中垂面上，第三摄像头和第四摄像头分布在超声探头的扇扫平面的两侧，且所述第三摄像头和第四摄像头的中心线都偏离超声探头扇扫平面的中垂面，根据第一摄像头和第二摄像头对应形成的参考视图计算第一实际定位轨迹，根据第三摄像头和第四摄像头对应形成的参考视图计算第二实际定位轨迹，根据所述第一定位轨迹和所述第二定位轨迹确定最终实际定位轨迹。
在还有一些实施例中，摄像头的数量至少有四个，包括第一摄像头、第二摄像头、第三摄像头和第四摄像头，第一摄像头和第二摄像头对称分布在超声探头的扇扫平面的两侧，所述第一摄像头和第二摄像头的中心线都位于超声探头扇扫平面的中垂面上，第三摄像头和第四摄像头分布在超声探头的扇扫平面的两侧，且所述第三摄像头和第四摄像头的中心线都偏离超声探头扇扫平面的中垂面，根据第一摄像头和第二摄像头对应形成的参考视图计算第一实际定位轨迹，根据第三摄像头和第四摄像头对应形成的参考视图计算第二实际定位轨迹，根据第一摄像头或第二摄像头对应形成的参考视图计算第三实际定位轨迹，根据所述第一定位轨迹、所述第二定位轨迹、第三实际定位轨迹确定最终实际定位轨迹。
根据各待校验的定位轨迹(第一定位轨迹或所述第二定位轨迹或第三实际定位轨)确定 最终的实际定位轨迹时，如果各待机校验定位轨迹的差值大于预设阈值，则可以警告可以发出异常警告信号；若各待机校验定位轨迹的差值小于或等于预设阈值，则可以对各待机校验定位轨迹求平均值，以该平均值作为最终实际定位轨迹。
上述各实施例中，实际定位轨迹通过计算确定，然后根据计算出的实际定位轨迹控制超声探头1移动，也就是控制整个图像采集组件移动；在实际实施过程中，对于实际定位轨迹也可以不用进行计算，而是根据摄像头2和超声探头1的实际位置关系在参考视图4中融合超声探头1的中心线13作为虚拟投影点，并根据参考视图4中虚拟标记点41与该虚拟投影点的位置关系，确定虚拟投影点与虚拟标记点41重合所对应的运动方向，根据该运动方向控制超声探头1移动(也就是控制图像采集组件移动)，直至参考视图4中，虚拟投影点和虚拟标记点41重合。其中，在参考视图4中融合形成所述虚拟投影点时，摄像头2的中心线23在参考视图4上对应参考视图的中心位置，超声探头1的中心线23与摄像头2中心线的方位、虚拟投影点和虚拟标记点41的方向对应，而超声探头1的中心线23与摄像头2中心线的方位、虚拟投影点和虚拟标记点41的距离按照成像比例确定。
相应的，本发明还提供一种病灶定位系统，其通过定位体表的标记31定位病灶，该病灶定位系统定位病灶的详细方法及效果参见上述病灶定位方法，本发明的病灶定位系统包括：
图像采集组件，其具有超声探头1和至少一个摄像头2，所述摄像头2分布在所述超声探头1的扇扫平面11的一侧或两侧，并与所述超声探头1的相对位置保持固定，且所述摄像头2的中心线23平行于所述超声探头1的中心线13；
参考视图显示装置(图未示)，其用于显示参考视图4，所述参考视图4根据所述摄像头2实时采集的数据形成，所述参考视图4的尺寸为数值固定，且所述参考视图4中形成有与所述标记31对应的虚拟标记点41；
处理器(图未示)，所述处理器包括实际定位轨迹计算单元，所述实际定位轨迹计算单元被配置为根据所述虚拟标记点41在所述参考视图4中的位置，并根据所述摄像头2和所述超声探头1的实际位置关系计算使所述超声探头1的中心线13与标记31重合的实际定位轨迹。
在实际实施过程中，上述的处理器可以是通用处理器，包括中央处理器(Central Processing Unit，简称CPU)、网络处理器(Network Processor，简称NP)等；还可以是数字信号处理器(Digital Signal Processing，简称DSP)、专用集成电路(Application Specific Integrated Circuit，简称ASIC)、现场可编程门阵列(Field－ Programmable Gate Array，简称FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件。
在一些实施例中，所述病灶定位系统还包括：
预定位指令输入单元，其用于输入预定位指令，使所述图像采集组件根据所述预定位指令移动至标记31上方；及
执行机构，其用于带动图像采集组件移动；
其中，所述处理器包括预定位处理单元，所述预定位处理单元被配置为根据所述预定位指令控制所述执行机构移动，待所述执行机构执行完成该预定位指令对应的动作后，判断摄像头2采集形成的当前视图中是否含有与标记31对应的虚拟标记点41，若有，则以当前视图作为参考视图4。
在一些实施例中，所述实际定位轨迹计算单元具有用于计算运动边界条件的运动边界条件计算子单元，所述运动边界条件计算子单元被配置为根据所述预定位高度限定所述图像采集组件的运动边界条件，使所述超声探头1在预设平面内移动，其中，所述预设平面为垂直于超声探头1的中心线13，且与所述预定位高度相对应的平面。
在一些实施例中，所述处理器还包括成像单元，所述成像单元被配置为：建立当前视图与摄像头2实际采集区域的成像比例关系，根据所述成像比例关系形成所述参考视图4。
在实际实施过程中，建立成像比例关系时，可以设定预定位高度的预设值，并通过输入预定位指令使预定位高度等于预设值，使比例关系为定值，也就是在实际定位轨迹前，将超声探头1移动至距离标记31有固定高度差的位置，有利于降低运算数据量，实现更快速的定位；当然，实际实施过程中，也可以以预定位高度的预设值为变量建立成像比例关系的计算模型，待获取预定位高度的数值后计算实际成像比例关系。
在实际实施过程中，还可以通过改变摄像头2的安装位，使摄像头2采集的当前视图中始终有部分超声探头1的侧边缘轮廓，在建立该成像比例关系时，通过摄像头2中心线距离侧边缘轮廓的实际距离和参考视图4中的参考距离来计算成像比例关系。
在一些实施例中，所述摄像头2的中心线23位于超声探头扇扫平面11的中垂面12上，则，
所述成像单元被配置为：形成所述参考视图4时，所述摄像头2的中心线23位于所述参考视图4的中心，所述参考视图4以超声波扇扫平面11的中垂面12的投影为横轴，以垂直于所述横轴的方向为纵向；
实际定位轨迹计算单元包括实际横向位移计算子单元和实际纵向位移计算子单元，其中， 所述实际纵向位移计算子单元被配置为：根据所述虚拟标记点41在所述参考视图4中的位置，虚拟标记点41移动至与所述横轴重合所需的虚拟纵向位移，根据所述虚拟纵向位移和所述成像比例关系计算所述实际纵向位移。
在一些实施例中，所述摄像头2的数量为一个，则所述实际横向位移计算子单元被配置为：根据所述虚拟标记点41在所述参考视图4中的位置计算，计算所述虚拟标记点41的虚拟横向位移，并根据所述虚拟横向位移和所述成像比例关系计算所述实际横向位移，
所述虚拟横向位移的计算公式满足：
Figure PCTCN2021115360-appb-000007
其中，L 0为虚拟横向位移分量，a为超声探头1与摄像头2的中心距，h 1为超声探头1与摄像头2的高度距离，h 2为所述预定位高度，θ为摄像头2的采集区域在横向方向上对应的可视角度，L为参考视图4在横向方向对应的视图宽度。
在一些实施例中，参见5，参考视图4中设置有位置形状固定的参考标尺，参考标尺42对应设置有刻度数值，且该刻度数值根据成像比例换算成摄像头实际采集区域对应的尺寸数值显示，在实际实施过程中，也可以在参考视图显示装置上设置有参考标尺。
在一些实施例中，所述摄像头2的数量为两个，包括第一摄像头21和第二摄像头22，第一摄像头21和第二摄像头22对称分布在超声探头1的扇扫平面11的两侧，第一摄像头21、第二摄像头22与超声探头1的高度差相等；
所述成像单元被配置为：根据所述第一摄像头21采集的数据形成的第一参考视图4a，根据所述第二摄像头22采集的数据形成的第二参考视图4b；
所述实际横向位移计算子单元被配置为：根据所述第一参考视图4a中虚拟标记点41的位置和所述第二参考视图4b中虚拟标记点41的位置计算所述实际横向位移，所述实际横向位移的计算公式满足：
Figure PCTCN2021115360-appb-000008
其中，y为实际横向位移分量，a为超声探头1与各摄像头2的中心距，L 1为第一参考视图4a中虚拟标记点41距离视图中心的横向距离；L 2为第二参考视图4b中虚拟标记点41距离视图中心的横向距离；第一摄像头21和第二摄像头22的采集图像在横向方向上的可视角度均为θ；第一参考视图4a和第二参考视图4b的预设视图宽度均为L。
在一些实施例中，所述摄像头2的数量为两个，包括第一摄像头21和第二摄像头22， 第一摄像头21和第二摄像头22分布在超声探头1的扇扫平面11的两侧，且第一摄像头的中心线和第二摄像头的中心线中至少有一个摄像头的中心线偏离超声探头扇扫平面的中垂面，第一摄像头21、第二摄像头22与超声探头1的高度差相等；此时，第一摄像头21、第二摄像头22与超声探头1的相对设置位置灵活，在使用过程中有利于避让其它设备，适应范围更广。
此时，所述成像单元被配置为：根据所述第一摄像头21采集的数据形成的第一参考视图4a，根据所述第二摄像头22采集的数据形成的第二参考视图4b；
所述实际定位轨迹计算单元计算单元被配置为：根据虚拟标记点41在所述第一参考视图4a和所述第二参考视图4b中的位置，计算虚拟横向位移和虚拟纵向位移；再根据所述虚拟横向位移、虚拟纵向位移及所述成像比例关系计算实际横向位移和计算实际纵向位移；
在计算所述虚拟横向位移和所述虚拟纵向位移时，以超声探头1中心线的虚拟投影点为原点，以超声探头扇扫平面11的虚拟扇扫投影线为Y轴，超声探头扇扫平面11的中垂面12的虚拟中垂投影线为X轴建立坐标系，根据所述第一参考视图4a和所述第二参考视图4b虚拟标记点41的位置，建立虚拟标记点41的坐标计算公式组：
y 1＝(tan θ 1)x 1+b 1-a 1tan θ 1；
y 1＝(tan θ 2)x 1+b 2-a 2tan θ 2；
其中，虚拟标记点41的坐标为(x 1，y 1)，θ 1为第一参考视图4a中虚拟标记点41与超声探头扇扫平面(对应X轴)的夹角，所述第一摄像头21的坐标位置为(a 1，b 1)，所述第二摄像头22的坐标位置为(a 2，b 2)，θ 2为第二参考视图4b中虚拟标记点41与超声探头扇扫平面(对应X轴)的夹角。
在一些实施例中，所述病灶定位系统设置有多组摄像头组，每组摄像头组的数量为一个或两个摄像头，每个所述实际定位轨迹计算单元根据一组所述摄像头组获取一待校验的实际定位轨迹，所述处理器还包括校验单元，所述校验单元根据至少两待校验的实际定位轨迹获取最终的实际定位轨迹。
在一些实施例中，处理器还被配置为：
根据摄像头和超声探头的实际位置关系在参考视图中融合超声探头的中心线作为虚拟投影点；
确定所述实际定位轨迹时，根据参考视图中虚拟标记点与该虚拟投影点的位置关系，确定虚拟投影点与虚拟标记点重合所对应的运动方向，并根据该运动方向控制超声探头移动， 直至参考视图中，直至虚拟投影点和虚拟标记点重合。
应该理解，上述各个实施例中各步骤的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本发明实施例的实施过程构成任何限定。
上述实施例仅例示性说明本发明的原理及其功效，而非用于限制本发明。任何熟悉此技术的人士皆可在不违背本发明的精神及范畴下，对上述实施例进行修饰或改变。因此，举凡所属技术领域中具有通常知识者在未脱离本发明所揭示的精神与技术思想下所完成的一切等效修饰或改变，仍应由本发明的权利要求所涵盖。

Claims (22)

  1. 一种病灶定位方法，其特征在于，通过定位体表的标记定位病灶，定位时，采用图像采集组件进行标记定位，所述图像采集组件包括超声探头及至少一个摄像头，所述摄像头分布在所述超声探头的扇扫平面的一侧或两侧，并与所述超声探头的相对位置保持固定，且所述摄像头的中心线平行于所述超声探头的中心线，所述病灶定位方法包括：
    根据所述摄像头实时采集的数据形成参考视图，所述参考视图的尺寸为预设尺寸，且所述参考视图中形成有与所述标记对应的虚拟标记点；
    根据所述虚拟标记点在所述参考视图中的位置，并根据所述摄像头和所述超声探头的实际位置关系确定使所述超声探头的中心线与标记重合的实际定位轨迹。
  2. 根据权利要求1所述的病灶定位方法，其特征在于，根据所述摄像头实时采集的数据形成参考视图的方法包括：
    输入预定位指令，使所述图像采集组件根据所述预定位指令移动至标记上方；
    待所述图像采集组件完成该预定位指令后，判断摄像头实时采集的形成的当前视图中是否含有与标记对应的虚拟标记点；
    若有，以所述当前视图作为所述参考视图，并以超声探头距离标记的当前高度距离作为预定位高度，若无，则再次输入预定位指令，直至形成所述参考视图。
  3. 根据权利要求2所述的病灶定位方法，其特征在于，计算所述实际定位轨迹的方法还包括：
    根据所述预定位高度限定所述图像采集组件的运动边界条件，使所述超声探头在预设平面内移动，其中，所述预设平面为垂直于超声探头的中心线，且与所述预定位高度相对应的平面。
  4. 根据权利要求2所述的病灶定位方法，其特征在于，形成所述参考视图的方法包括：建立当前视图与摄像头实际采集区域的成像比例关系，根据所述成像比例关系形成所述参考视图；
    设定所述预定位高度的预设值，并通过输入预定位指令使所述预定位高度等于所述预设值，使所述比例关系为定值；
    或
    以所述预定位高度的预设值为变量建立成像比例关系的计算模型，待获取预定位高度的数值后计算实际成像比例关系；
    或
    设定摄像头的安装位置，使摄像头采集的当前视图中始终有超声探头的部分侧边缘轮廓，在建立成像比例关系时，通过摄像头中心线距离侧边缘轮廓的实际距离和参考视图中的参考距离来计算成像比例关系。
  5. 根据权利要求4所述的病灶定位方法，其特征在于：所述摄像头的中心线位于超声探头扇扫平面的中垂面上时，形成所述参考视图时，所述摄像头的中心线位于所述参考视图的中心，所述参考视图以超声波扇扫平面的中垂面的投影为横轴，以垂直于所述横轴的方向为纵向，则计算所述实际定位轨迹的方法包括分别计算实际横向位移和实际纵向位移，其中，计算所述实际纵向位移的方法包括：
    根据所述虚拟标记点在所述参考视图中的位置，虚拟标记点移动至与所述横轴重合所需的虚拟纵向位移，
    根据所述虚拟纵向位移和所述成像比例关系计算所述实际纵向位移。
  6. 根据权利要求5所述的病灶定位方法，其特征在于，所述摄像头的数量至少有一个，根据单个摄像头形成的参考视图计算所述实际定位轨迹，则计算所述实际横向位移的方法包括：根据所述虚拟标记点在所述参考视图中的位置计算，计算所述虚拟标记点的虚拟横向位移，并根据所述虚拟横向位移和所述成像比例关系计算所述实际横向位移，所述虚拟横向位移的计算公式满足：
    Figure PCTCN2021115360-appb-100001
    其中，L 0为虚拟横向位移分量，a为超声探头与摄像头的中心距，h 1为超声探头与摄像头的高度距离，h 2为所述预定位高度，θ为摄像头的采集区域在横向方向上对应的可视角度，L为参考视图在横向方向对应的视图宽度。
  7. 根据权利要求5所述的病灶定位方法，其特征在于，所述摄像头的数量至少有两个，包括第一摄像头和第二摄像头，根据两个摄像头对应形成的参考视图计算所述实际定位轨迹，第一摄像头和第二摄像头对称分布在超声探头的扇扫平面的两侧，第一摄像头、第二摄像头与超声探头的高度差相等，所述第一摄像头采集形成的第一参考视图，所述第二摄像头采集形成的第二参考视图；
    则计算所述实际横向位移的方法包括根据所述第一参考视图中虚拟标记点的位置和所述第二参考视图中虚拟标记点的位置计算所述实际横向位移，所述实际横向位移的计算公式满足：
    Figure PCTCN2021115360-appb-100002
    其中，y为实际横向位移分量，a为超声探头与各摄像头的中心距，L 1为第一参考视图中虚拟标记点距离视图中心的横向距离；L 2为第二参考视图中虚拟标记点距离视图中心的横向距离；第一摄像头和第二摄像头的采集图像在横向方向上的可视角度均为θ；第一参考视图和第二参考视图的预设视图宽度均为L。
  8. 根据权利要求4所述的病灶定位方法，其特征在于：所述摄像头的数量至少为两个，包括第一摄像头和第二摄像头，根据两个摄像头对应形成的参考视图计算所述实际定位轨迹，第一摄像头和第二摄像头分布在超声探头的扇扫平面的两侧，且第一摄像头的中心线和第二摄像头的中心线中至少有一个摄像头的中心线偏离超声探头扇扫平面的中垂面，第一摄像头、第二摄像头与超声探头的高度差相等，所述第一摄像头采集形成的第一参考视图，所述第二摄像头采集形成的第二参考视图，则计算所述实际定位轨迹的方法包括：根据虚拟标记点在所述第一参考视图和所述第二参考视图中的位置，计算虚拟横向位移和虚拟纵向位移；再根据所述虚拟横向位移、虚拟纵向位移及所述成像比例关系计算实际横向位移和计算实际纵向位移；
    在计算所述虚拟横向位移和所述虚拟纵向位移时，以超声探头中心线的虚拟投影点为原点，以超声探头扇扫平面的虚拟扇扫投影线为Y轴，超声探头扇扫平面的中垂面的虚拟中垂投影线为X轴建立坐标系，根据所述第一参考视图和所述第二参考视图虚拟标记点的位置，建立虚拟标记点的坐标计算公式组：
    y 1＝(tanθ 1)x 1+b 1-a 1tanθ 1；
    y 1＝(tanθ 2)x 1+b 2-a 2tanθ 2；
    其中，虚拟标记点41的坐标为(x 1，y 1)，θ 1为第一参考视图4a中虚拟标记点41与超声探头扇扫平面(对应X轴)的夹角，所述第一摄像头21的坐标位置为(a 1，b 1)，所述第二摄像头22的坐标位置为(a 2，b 2)，θ 2为第二参考视图4b中虚拟标记点41与超声探头扇扫平面(对应X轴)的夹角。
  9. 根据权利要求1～8项中任一项所述的病灶定位方法，其特征在于：对应所述参考视图设置位置和形状固定的参考标尺，所述参考标尺对应设置有刻度数值，且刻度数值根据成像比例换算成摄像头实际采集区域对应的尺寸数值显示。
  10. 根据权利要求4所述的病灶定位方法，其特征在于：对各摄像头分组形成至少两组摄像头组，每组摄像头组包括一个或两个摄像头，根据一组摄像头组采集形成的参考视图形成一待校验的实际定位轨迹，根据至少两待校验的实际定位轨迹获取校验获取最终的实际定位轨迹：
    所述摄像头的数量至少有两个，包括第一摄像头和第二摄像头，第一摄像头和第二摄像头对称分布在超声探头的扇扫平面的两侧，所述第一摄像头和第二摄像头的中心线都位于超声探头扇扫平面的中垂面上，第一摄像头、第二摄像头与超声探头的高度差相等，定位病灶时，根据第一摄像头或第二摄像头对应形成的参考视图计算第一实际定位轨迹，根据第一摄像头和第二摄像头对应形成的参考视图计算第二实际定位轨迹，根据所述第一定位轨迹和所述第二定位轨迹确定最终实际定位轨迹。
    或
    所述摄像头的数量至少有两个，包括第一摄像头和第二摄像头，第一摄像头和第二摄像头分布在超声探头的扇扫平面的两侧，所述第一摄像头的中心线位于超声探头扇扫平面的中垂面上，第二摄像头的中心线偏离超声探头扇扫平面的中垂面，第一摄像头、第二摄像头与超声探头的高度差相等，定位病灶时，根据第一摄像头对应形成的参考视图计算第一实际定位轨迹，根据两个摄像头对应形成的参考视图计算第二实际定位轨迹，根据所述第一定位轨迹和所述第二定位轨迹确定最终实际定位轨迹；
    或
    所述摄像头的数量至少有三个，包括第一摄像头、第二摄像头和第三摄像头，第一摄像头、第三摄像头分布在超声探头扇扫平面的一侧，第二摄像头分布在超声探头扇扫平面的另一侧，第三摄像头的中心线位于超声探头扇扫平面的中垂面上，第一摄像头的中心线和第二摄像头的中心线均偏离超声探头扇扫平面的中垂面，第一摄像头、第二摄像头和第三摄像头与超声探头的高度差相等，定位病灶时，根据第三摄像头对应形成的参考视图计算第一实际定位轨迹，根据第一摄像头和第二摄像头对应形成的参考视图计算第二实际定位轨迹，根据所述第一定位轨迹和所述第二定位轨迹确定最终实际定位轨迹；
    或
    所述摄像头的数量至少有四个，包括第一摄像头、第二摄像头、第三摄像头和第四摄像头，第一摄像头和第二摄像头对称分布在超声探头的扇扫平面的两侧，所述第一摄像头和第二摄像头的中心线都位于超声探头扇扫平面的中垂面上，第三摄像头和第四摄像头分布在超声探头的扇扫平面的两侧，且所述第三摄像头和第四摄像头的中心线都偏离超声探头扇扫平面的中垂面，根据第一摄像头和第二摄像头对应形成的参考视图计算第一实际定位轨迹，根据第三摄像头和第四摄像头对应形成的参考视图计算第二实际定位轨迹，根据所述第一定位轨迹和所述第二定位轨迹确定最终实际定位轨迹；
    所述摄像头的数量至少有四个，包括第一摄像头、第二摄像头、第三摄像头和第四摄像头，第一摄像头和第二摄像头对称分布在超声探头的扇扫平面的两侧，所述第一摄像头和第二摄像头的中心线都位于超声探头扇扫平面的中垂面上，第三摄像头和第四摄像头分布在超声探头的扇扫平面的两侧，且所述第三摄像头和第四摄像头的中心线都偏离超声探头扇扫平面的中垂面，根据第一摄像头和第二摄像头对应形成的参考视图计算第一实际定位轨迹，根据第三摄像头和第四摄像头对应形成的参考视图计算第二实际定位轨迹，根据第一摄像头或第二摄像头对应形成的参考视图计算第三实际定位轨迹，根据所述第一定位轨迹、所述第二定位轨迹、第三实际定位轨迹确定最终实际定位轨迹。
  11. 根据权利要求4所述的病灶定位方法，其特征在于，还包括：
    根据摄像头和超声探头的实际位置关系在参考视图中融合超声探头的中心线作为虚拟投影点，
    确定所述实际定位轨迹时，根据参考视图中虚拟标记点与该虚拟投影点的位置关系，确定虚拟投影点与虚拟标记点重合所对应的运动方向，并根据该运动方向控制超声探头移动，直至参考视图中，直至虚拟投影点和虚拟标记点重合。
  12. 一种病灶定位系统，其特征在于，其通过定位体表的标记定位病灶，其包括：
    图像采集组件，其具有超声探头和至少一个摄像头，所述摄像头分布在所述超声探头的扇扫平面的一侧或两侧，并与所述超声探头的相对位置保持固定，且所述摄像头的中心线平行于所述超声探头的中心线；
    参考图像显示装置，其用于显示参考视图，所述参考视图根据所述摄像头实时采集的数据形成，所述参考视图的尺寸为数值固定，且所述参考视图中形成有与所述标记对应的虚拟标记点；
    处理器，所述处理器包括实际定位轨迹计算单元，所述实际定位轨迹计算单元被配置为 根据所述虚拟标记点在所述参考视图中的位置，并根据所述摄像头和所述超声探头的实际位置关系计算使所述超声探头的中心线与标记重合的实际定位轨迹。
  13. 根据权利要求12所述的病灶定位系统，其特征在于，还包括：
    预定位指令输入单元，其用于输入预定位指令，使所述图像采集组件根据所述预定位指令移动至标记上方；及
    执行机构，其用于带动图像采集组件移动；
    其中，所述处理器包括预定位处理单元，所述预定位处理单元被配置为根据所述预定位指令控制所述执行机构移动，待所述执行机构执行完成该预定位指令对应的动作后，判断摄像头采集形成的当前视图中是否含有与标记对应的虚拟标记点，若有，则以当前视图作为参考视图。
  14. 根据权利要求13所述的病灶定位系统，其特征在于，所述实际定位轨迹计算单元具有用于计算运动边界条件的运动边界条件计算子单元，所述运动边界条件计算子单元被配置为根据所述预定位高度限定所述图像采集组件的运动边界条件，使所述超声探头在预设平面内移动，其中，所述预设平面为垂直于超声探头的中心线，且与所述预定位高度相对应的平面。
  15. 根据权利要求13所述的病灶定位系统，其特征在于，所述处理器还包括成像单元，所述成像单元被配置为：建立当前视图与摄像头实际采集区域的成像比例关系，根据所述成像比例关系形成所述参考视图；
    设定所述预定位高度的预设值，并通过输入预定位指令使所述预定位高度等于所述预设值，使所述比例关系为定值；
    或
    以所述预定位高度的预设值为变量建立成像比例关系的计算模型，待获取预定位高度的数值后计算实际成像比例关系；
    或
    设定摄像头的安装位置，使摄像头采集的当前视图中始终有超声探头的部分侧边缘轮廓，在建立成像比例关系时，通过摄像头中心线距离侧边缘轮廓的实际距离和参考视图中的参考距离来计算成像比例关系。
  16. 根据权利要求15所述的病灶定位系统，其特征在于：所述摄像头的中心线位于超声探头扇扫平面的中垂面上，则，
    所述成像单元被配置为：形成所述参考视图时，所述摄像头的中心线位于所述参考视图的中心，所述参考视图以超声波扇扫平面的中垂面的投影为横轴，以垂直于所述横轴的方向为纵向；
    实际定位轨迹计算单元包括实际横向位移计算子单元和实际纵向位移计算子单元，其中，所述实际纵向位移计算子单元被配置为：根据所述虚拟标记点在所述参考视图中的位置，虚拟标记点移动至与所述横轴重合所需的虚拟纵向位移，根据所述虚拟纵向位移和所述成像比例关系计算所述实际纵向位移。
  17. 根据权利要求16所述的病灶定位系统，其特征在于：所述摄像头的数量为一个，则所述实际横向位移计算子单元被配置为：根据所述虚拟标记点在所述参考视图中的位置计算，计算所述虚拟标记点的虚拟横向位移，并根据所述虚拟横向位移和所述成像比例关系计算所述实际横向位移，
    所述虚拟横向位移的计算公式满足：
    Figure PCTCN2021115360-appb-100003
    其中，L 0为虚拟横向位移分量，a为超声探头与摄像头的中心距，h 1为超声探头与摄像头的高度距离，h 2为所述预定位高度，θ为摄像头的采集区域在横向方向上对应的可视角度，L为参考视图在横向方向对应的视图宽度。
  18. 根据权利要求17所述的病灶定位系统，其特征在于：所述摄像头的数量为两个，包括第一摄像头和第二摄像头，第一摄像头和第二摄像头对称分布在超声探头的扇扫平面的两侧，第一摄像头、第二摄像头与超声探头的高度差相等；
    所述成像单元被配置为：根据所述第一摄像头采集的数据形成的第一参考视图，根据所述第二摄像头采集的数据形成的第二参考视图；
    所述实际横向位移计算子单元被配置为：根据所述第一参考视图中虚拟标记点的位置和所述第二参考视图中虚拟标记点的位置计算所述实际横向位移，所述实际横向位移的计算公式满足：
    Figure PCTCN2021115360-appb-100004
    其中，y为实际横向位移分量，a为超声探头与各摄像头的中心距，L 1为第一参考视图中虚拟标记点距离视图中心的横向距离；L 2为第二参考视图中虚拟标记点距离视图中心的横向距离；第一摄像头和第二摄像头的采集图像在横向方向上的可视角度均为θ；第一参考视图和第二参考视图的预设视图宽度均为L。
  19. 根据权利要求15所述的病灶定位系统，其特征在于：所述摄像头的数量为两个，包括第一摄像头和第二摄像头，第一摄像头和第二摄像头分布在超声探头的扇扫平面的两侧，且第一摄像头的中心线和第二摄像头的中心线中至少有一个摄像头的中心线偏离超声探头扇扫平面的中垂面，第一摄像头、第二摄像头与超声探头的高度差相等；
    所述成像单元被配置为：根据所述第一摄像头采集的数据形成的第一参考视图，根据所述第二摄像头采集的数据形成的第二参考视图；
    所述实际定位轨迹计算单元被配置为：根据虚拟标记点在所述第一参考视图和所述第二参考视图中的位置，计算虚拟横向位移和虚拟纵向位移；再根据所述虚拟横向位移、虚拟纵向位移及所述成像比例关系计算实际横向位移和计算实际纵向位移；
    在计算所述虚拟横向位移和所述虚拟纵向位移时，以超声探头中心线的虚拟投影点为原点，以超声探头扇扫平面的虚拟扇扫投影线为Y轴，超声探头扇扫平面的中垂面的虚拟中垂投影线为X轴建立坐标系，根据所述第一参考视图和所述第二参考视图虚拟标记点的位置，建立虚拟标记点的坐标计算公式组：
    y 1＝(tanθ 1)x 1+b 1-a 1tanθ 1；
    y 1＝(tanθ 2)x 1+b 2-a 2tanθ 2；
    其中，虚拟标记点的坐标为(x 1，y 1)，所述第一参考视图中，θ 1为第一摄像头的采集区域在与X轴对应的宽度方向上的可视角度，所述第一摄像头的坐标位置为(a 1，b 1)，所述第二摄像头的坐标位置为(a 2，b 2)，θ 2为第二摄像头的采集区域在与X轴对应的宽度方向的可视角度。
  20. 根据权利要求12～19所述的病灶定位系统，其特征在于：所述参考视图中或所述参考视图显示装置上设置有参考标尺，所述参考标尺对应设置有刻度数值，且所述刻度数值根 据成像比例换算成摄像头实际采集区域对应的尺寸数值显示。
  21. 根据权利要求15所述的病灶定位系统，其特征在于：所述病灶定位系统设置有至少两组摄像头组，每组摄像头组的数量为一个或两个摄像头，每个所述实际定位轨迹计算单元根据一组所述摄像头组获取一待校验的实际定位轨迹，所述处理器还包括校验单元，所述校验单元根据至少两待校验的实际定位轨迹获取最终的实际定位轨迹。
  22. 根据权利要求15所述的病灶定位系统，其特征在于，所述处理器还被配置为：
    根据摄像头和超声探头的实际位置关系在参考视图中融合超声探头的中心线作为虚拟投影点，
    在确定所述实际定位轨迹时，根据参考视图中虚拟标记点与该虚拟投影点的位置关系，确定虚拟投影点与虚拟标记点重合所对应的运动方向，并根据该运动方向控制超声探头移动，直至参考视图中，直至虚拟投影点和虚拟标记点重合。
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