3D Quasi-static Ultrasound Elastography System Research Based On 6-DOF Robotic Arm

The quasi-static ultrasound elastic imaging is a kind of ultrasound elastic imaging technology,which is popular in recent years and has been put into clinical application.This technology can estimate the distribution of elastic modulus of tissue and transform it into a visual image.The change of elastic or hardness of biological tissue is closely related to the abnormal pathological state of tissue,which has a very important reference in diagnosis.Therefore,as soon as the quasi-static ultrasound elastic imaging technology is put forward,it becomes a research hotspot and has become a rapidly developing technology in medical ultrasound imaging.Compared with 2D ultrasound elastic imaging,3D ultrasound elastic imaging technology has the advantages of visual image,accurate spatial positioning,and multi angle observation in clinical application.At present,although there are 3D probes,they are not widely used because of their expensive price and inability to control the size of scanning area.At present,although there are 3D probes,they are not widely used because of their expensive price and inability to control the scanning area.At this stage the main trend of 3D ultrasound imaging is to acquire 2D image sequences through 2D linear array probe and then carry out 3D reconstruction.The traditional 3D reconstruction methods are usually realized by interpolation algorithm or distance weighting.In this paper,we use the popular deep learning technology and use 3DCNN to realize 3D reconstruction,and improve the quality of 3D reconstruction.In this paper,the principle of ultrasonic elastic imaging,the traditional 3D reconstruction method and the 3D reconstruction method based on 3DCNN are described in detail.Then this paper designs and implements an intelligent scanning 3D ultrasonic quasi-static elastic imaging system based on a 6-Do F robotic arm,which includes a 6-Do F robotic arm control end,an ultrasonic image acquisition end and a 3D ultrasonic elastic imaging end.These systems transmit data through wireless network.The robotic arm control end uses Kinect to collect images to determine the scanning path,and then controls the robotic arm to automatically scan along the scanning path.In order to verify the reliability of this system,the experiments of ultrasonic elastic phantom,human forearm and 3D reconstruction quality evaluation are conducted in this paper.The series of experimental results show that the proposed system can obtain clear and accurate 2D ultrasound elastic images,and compared with the traditional 3D reconstruction algorithm,the algorithm our proposed has a significant improvement in the quality of 3D reconstruction.