阅读说明：本技术 一种妇产科全自动检查成像系统 (A kind of gynemetrics's complete-automatic check imaging system ) 是由 张文艳 孙强 郭梅 于 2019-09-26 设计创作，主要内容包括：本发明目的在于提供一种妇产科全自动检查成像系统,包括检查床、机器视觉检查系统、注射系统、超声诊断系统和中央控制系统,通过机器视觉检查技术智能判断患者待检查部位,然后中央控制系统驱动装置运动,控制注射系统和超声探头在患者待检查部位的准确定位,对患者进行输卵管和子宫腔三维超声造影,实现立女性内生殖道的状况的体化评估,可有效判断有无宫内占位、双侧输卵管有无阻塞或欠通畅等不良状况,协助发掘不孕的原因。(It is an object of that present invention to provide a kind of gynemetrics's complete-automatic check imaging systems, including examination couch, machine vision inspection system, injecting systems, compuscan and central control system, pass through machine vision inspection techniques intelligent decision patient position to be checked, then central control system driving device moves, injecting systems and ultrasonic probe are controlled in the accurate positionin at patient position to be checked, fallopian tubal and uterine cavity three-D ultrasonic radiography are carried out to patient, realize the bodyization assessment of the situation in vertical female internal genital road, in utero occupy-place can effectively be determined whether, bilateral salpingo has clog-free or owes unobstructed equal undesirable conditions, it assists to excavate infertile reason.)

1. a kind of gynemetrics's complete-automatic check imaging system, which is characterized in that including examination couch, machine vision inspection system, note Penetrate system, compuscan and central control system, the central control system include signal receiving end, central processing unit, Driving indication end and signal display end, the signal receiving end are connected with signal display end respectively, the central processing unit and drive Dynamic indication end is connected, and the machine vision inspection system is connected with the signal receiving end of central control system, the injecting systems It is connected respectively with the driving indication end of central control system with compuscan.

2. a kind of gynemetrics's complete-automatic check imaging system according to claim 1, which is characterized in that the machine vision Inspection system includes signal acquisition end, signal processor, database and the signal output end being sequentially connected, the signal output end It is connected with the signal receiving end of central control system, the signal acquisition end for obtaining human body portion to be checked on examination couch in real time Position, injecting systems and compuscan image or video information, include human body position to be checked, note in the database Penetrate the standard picture of system and compuscan.

3. a kind of gynemetrics's complete-automatic check imaging system according to claim 2, which is characterized in that the machine vision The signal processor of inspection system for identification with the characteristics of image that extracts characteristics of image, and will be monitored by signal output end Be sent to the signal receiving end of central control system, the central processing unit of central control system according to the real-time behavioral characteristics of image, Driving indication signal is calculated, driving indication signal is sent to injecting systems and compuscan by driving indication end.

4. a kind of gynemetrics's complete-automatic check imaging system according to claim 3, which is characterized in that described image feature Including color characteristic, textural characteristics, shape feature and spatial relation characteristics.

5. a kind of gynemetrics's complete-automatic check imaging system according to claim 1, which is characterized in that the injecting systems Including injection catheter, syringe and injection driving mechanism, the compuscan include ultrasonic probe, probe driving mechanism and Three-dimensional imaging mechanism.

6. a kind of gynemetrics's complete-automatic check imaging system according to claim 5, which is characterized in that the injection driving Mechanism includes power drive unit, metering pump and pressure sensor, the driving of the power drive unit and central control system Indication end is connected, for driving injection catheter to be accurately put into personnel's uterine cavity to be checked, be also used to drive syringe from conduit to Palace intracavitary administration contrast agent；The metering pump is connected with syringe, for controlling contrast agent injection volume；The pressure sensor point It is not connected with the signal receiving end of syringe and central control system, is sent to for detecting injection pressure, and by pressure data Central control system.

7. a kind of gynemetrics's complete-automatic check imaging system according to claim 6, which is characterized in that the contrast agent is Micro air bubble ultrasonic contrast medium.

8. a kind of gynemetrics's complete-automatic check imaging system according to claim 5, which is characterized in that the ultrasound diagnosis The probe driving mechanism of system is connected with the driving indication end of ultrasonic probe and central control system respectively, and probe driving mechanism exists Under the indication signal effect for driving indication end to issue, driving ultrasonic probe is accurately positioned at position to be checked；The three-dimensional imaging Mechanism further includes the alignment sensor being connected with the signal receiving end of central control system.

9. a kind of gynemetrics's complete-automatic check imaging system according to claim 8, which is characterized in that the ultrasonic probe For through abdomen probe or transvaginal probe, uterine cavity or fallopian tubal for treating inspection personnel carry out supersonic sounding, and pass through three It ties up imaging mechanism and three-dimensional image reconstruction is carried out to uterine cavity shape or fallopian tubal form.

10. a kind of gynemetrics's complete-automatic check imaging system according to any one of claims 1 to 9, which is characterized in that institute State check imaging system inspection imaging method the following steps are included:

S1. personnel to be checked are lain on examination couch by specified posture, and the signal acquisition end of machine vision inspection system obtains to be checked The image or vision signal of personnel, injection catheter, syringe and ultrasonic probe are looked into, signal processor extracts database standard figure Picture obtains personnel to be checked position to be checked, injection catheter, syringe and ultrasonic probe to image or video frequency signal processing Relative position information, and it is sent to by signal output end the signal receiving end of central control system；

S2. after the signal receiving end of central control system receives relative position information, central processing unit, central processing are sent to The driving indication signal of injection catheter, syringe and ultrasonic probe is obtained by calculation in device, and is sent to driving indication end, driving Indication end drives injection catheter and ultrasonic probe to be accurately positioned at position to be checked, then according to defeated according to driving indication signal Whether oviduct and uterine cavity three-dimensional configuration judge uterine cavity size and backflow, to calculate injection measurement, and drive syringe Contrast agent is injected from conduit to position to be checked by metering, when injecting contrast agent, pressure sensor is by injection pressure data transmission To the signal receiving end of central control system；

S3. driving indication end is according to driving indication signal driving ultrasonic probe in position to be checked movement, the comprehensive defeated ovum of acquisition Image in pipe or uterine cavity, and are carried out by three-dimensional image reconstruction, and is passed for uterine cavity shape, fallopian tubal form using 3 dimension imaging technology It send to the signal receiving end of central control system；

S4. the central processing unit of central control system according to pressure data judge fallopian tubal it is out of shape it is whether tortuous or stiff, whether It is unobstructed, according to the health status of uterine cavity and the 3-D image of fallopian tubal form assessment female internal genital road.

Technical field

The invention belongs to medical facilities technical field more particularly to a kind of gynemetrics's complete-automatic check imaging systems.

Background technique

Fallopian tubal and uterine cavity are one of important components of female reproductive system, and fallopian tubal, which has, to be transported sperm, takes the photograph It takes ovum and fertilized eggs is transported to the important function of uterine cavity, infertile caused by fallopian tubal and intracavitary abnormality is a kind of normal The female infertility seen has become the first cause for causing female acyesis.Currently, diagnosis and treatment fallopian tubal and uterine cavity is infertile is The emphasis and hot spot of the infertile aspect Experts ' Attention of gynemetrics, and pass through point of form, function to fallopian tubal and uterine cavity It analyses to carry out the key point that accurately diagnosis is treatment.

Clinically common test mode is that traditional X-ray hysterosalpingography and laparoscope lead to dye liquor experiment.X is penetrated Line hysterosalpingography is to inject the high specific gravity substance idodine being made of high atomic number into uterine cavity by canal of uterine cervix, Apparent artificial contrast is formed with surrounding tissue in the case where X-ray takes the photograph piece, lumen is made to develop, to understand uterus and fallopian tubal cavity Interior situation.Whether radiography can not only prompt fallopian tubal unobstructed, the position of obstruction, moreover it is possible to observe uterine cavity form.But idodine class is made The patient that shadow agent is not suitable for lipiodol allergy uses, and injection pressure is excessive easily to cause distending pain, it may also occur that fallopian tubal spasm, causes vacation It is positive；Lipiodol absorbs slowly in vivo, Distal tubal obstruction person, and lipiodol is ejected with regard to difficulty once entering fallopian tubal, can lead to defeated Oviduct point film granulation tissue hyperplasia, adhesion；When venous retrograde return occurring in Salpingography, the lipiodol into blood vessel has generation lung bolt Risk is filled in, serious person even suffers a shock.Chromolaporoscopy is the goldstandard for judging tubal patency at present, passes through Celioscopy can intuitive pelvic cavity state, not only it will be seen that whether fallopian tubal unobstructed, moreover it is possible to observe determining row, having for fallopian tubal Without pelvic adhesion and other exceptions.But it is invasive inspection, needs to carry out under anaesthesia, shows 0.13% with the presence of result of study Postoperative complications risk, and it is time-consuming, costly.

With the exploitation of contrast medium for ultrasonic diagnosis and the popularization of colorful Doppler ultrasound diagnostic apparatus, make to evaluate under ultrasound The accuracy of tubal patency greatly improves, and three-dimensional Hysterosalpingocontrast sonography is a kind of novel ultrasonic imaging skill Art can be diagnosed Uterine lesion using ultrasonic three-dimensional imaging technology and evaluate the patency of fallopian tubal.But in ultrasound diagnosis, Imaging of medical usually requires accurately and repeatably to position patient.During diagnosis, need to support patient's It is scanning bed to be moved to position appropriate.Under normal conditions, scanning bed to be moved manually by operator.Meanwhile diagnostic equipment parameter It is also required to by operator's manual setting, ultrasonic diagnosis is carried out to patient in multiple different locations to realize.These are grasped manually Make not only time-consuming it is also possible to leading to diagnosis inaccuracy, but also patient is also possible to have operator and contradicts psychology.Therefore, it is badly in need of One kind is provided and effectively automaticly inspects imaging system, providing science for obstetrical and gynecological disease inspection can effective diagnostic means.

Summary of the invention

In view of the above-mentioned drawbacks of the prior art, it is an object of that present invention to provide a kind of imagings of gynemetrics's complete-automatic check System, by machine vision inspection techniques intelligent decision patient position to be checked, then intelligent drives injection device is moved, to trouble Person carries out fallopian tubal and uterine cavity three-D ultrasonic radiography, and three-dimensional assesses the situation in female internal genital road, effectively determines whether palace Interior occupy-place, bilateral salpingo have clog-free or owe the undesirable conditions such as unobstructed, assist to excavate infertile reason.

To achieve the above object, the present invention is implemented with the following technical solutions:

A kind of gynemetrics's complete-automatic check imaging system, which is characterized in that including examination couch, machine vision inspection system, Injecting systems, compuscan and central control system, the central control system include signal receiving end, central processing Device, driving indication end and signal display end, the signal receiving end is connected with central processing unit and signal display end respectively, described Central processing unit is connected with driving indication end, the signal receiving end phase of the machine vision inspection system and central control system Even, the injecting systems and compuscan are connected with the driving indication end of central control system respectively.

Further, the machine vision inspection system includes the signal acquisition end being sequentially connected, signal processor, data Library and signal output end, the signal output end are connected with the signal receiving end of central control system, and the signal acquisition end is used It is described in the image or video information that obtain human body position to be checked on examination couch, injecting systems and compuscan in real time It include the standard picture at human body position to be checked, injecting systems and compuscan in database.

Further, the signal processor of the machine vision inspection system for identification with extract characteristics of image, and lead to The signal receiving end that the characteristics of image monitored is sent to central control system by signal output end is crossed, in central control system Central processor calculates driving indication signal, by driving indication end to injecting systems and ultrasound according to the real-time behavioral characteristics of image Diagnostic system sends driving indication signal.

Further, described image feature includes color characteristic, textural characteristics, shape feature and spatial relation characteristics.

Further, the injecting systems include injection catheter, syringe and injection driving mechanism, ultrasound diagnosis system System includes ultrasonic probe, probe driving mechanism and three-dimensional imaging mechanism.

Further, the injection driving mechanism includes power drive unit, metering pump and pressure sensor, the power Driving device is connected with the driving indication end of central control system, for driving injection catheter to be accurately put into personnel's uterine cavity to be checked It is interior, it is also used to drive syringe from conduit to palace intracavitary administration contrast agent；The metering pump is connected with syringe, makes for controlling Shadow agent injection volume；The pressure sensor is connected with the signal receiving end of syringe and central control system respectively, for detecting Injection pressure, and pressure data is sent to central control system.

Further, the contrast agent is micro air bubble ultrasonic contrast medium.

Further, the probe driving mechanism of the compuscan respectively with ultrasonic probe and central control system Drive indication end be connected, probe driving mechanism driving indication end issue indication signal effect under, driving ultrasonic probe to Check point is accurately positioned；The three-dimensional imaging mechanism further includes that the positioning being connected with the signal receiving end of central control system passes Sensor.

Further, the ultrasonic probe is through abdomen probe or transvaginal probe, for treating the uterine cavity of inspection personnel Or fallopian tubal carries out supersonic sounding, and carries out 3-D image weight to uterine cavity shape or fallopian tubal form by three-dimensional imaging mechanism It builds.

Further, the inspection imaging method of gynemetrics's complete-automatic check imaging system provided by the invention includes following step It is rapid:

S1. personnel to be checked are lain on examination couch by specified posture, and the signal acquisition end of machine vision inspection system obtains Personnel to be checked, injection catheter, syringe and ultrasonic probe image or vision signal, signal processor extracts database standard Image obtains personnel to be checked position to be checked, injection catheter, syringe and ultrasonic probe to image or video frequency signal processing Relative position information, and be sent to by signal output end the signal receiving end of central control system；

S2. after the signal receiving end of central control system receives relative position information, it is sent to central processing unit, center The driving indication signal of injection catheter, syringe and ultrasonic probe is obtained by calculation in processor, and is sent to driving indication end, It drives indication end according to driving indication signal, drives injection catheter and ultrasonic probe to be accurately positioned at position to be checked, then root According to fallopian tubal and uterine cavity three-dimensional configuration, judge uterine cavity size and whether backflow, to calculate injection measurement, and drives note Emitter injects contrast agent from conduit to position to be checked by metering, and when injecting contrast agent, pressure sensor is by injection pressure data It is sent to the signal receiving end of central control system；

S3. driving indication end is according to mobile, the comprehensive acquisition at position to be checked of driving indication signal driving ultrasonic probe Image in fallopian tubal or uterine cavity, and three-dimensional image reconstruction is carried out to uterine cavity shape, fallopian tubal form using 3 dimension imaging technology, And it is sent to the signal receiving end of central control system；

S4. the central processing unit of central control system according to pressure data judge fallopian tubal it is out of shape it is whether tortuous or stiff, It is whether unobstructed, according to the health status of uterine cavity and the 3-D image of fallopian tubal form assessment female internal genital road.

Beneficial effect

Compared with prior art, a kind of gynemetrics's complete-automatic check imaging system provided by the invention has following beneficial to effect Fruit:

(1) present invention utilizes machine vision inspection techniques, realizes the intelligent control of injecting systems and compuscan, can It realizes the imaging of gynemetrics's complete-automatic check, can be detected automatically after patient enters inspection chamber, both improved inspection imaging Science and convenience, also exempted from patient to the conflict of medical staff on the scene psychology, there is extremely strong inspection practical value.

(2) present invention uses micro air bubble ultrasonic Salpingography, carries out ultrasonic examination, behaviour to patient's fallopian tubal and uterine cavity The invasive very little made, contrast agent is harmless to the body, avoids the x-ray fallopian tubal lipiodol angiography with radiativity to ovarian function Potential for adverse effects, can quickly and easily recognize the information of patient's Tubal Function of Sterility and form.

(3) present invention carries out three-dimensional image reconstruction, three-dimensional to uterine cavity shape, fallopian tubal form using 3 dimension imaging technology The situation for assessing female internal genital road effectively determines whether in utero occupy-place, bilateral salpingo has clog-free or owes unobstructed, assistance hair Dig infertile reason.

Detailed description of the invention

Fig. 1 is complete-automatic check imaging system composite structural diagram of the present invention；

Fig. 2 is machine inspection system and central control system work flow diagram；

Fig. 3 is injecting systems and compuscan work flow diagram.

Specific embodiment

Clear, complete description is carried out below with reference to technical solution of the attached drawing to various embodiments of the present invention, it is clear that is retouched The embodiment stated is only a part of the embodiments of the present invention, instead of all the embodiments；Based on the embodiment of the present invention, originally Field those of ordinary skill obtained all other embodiment without making creative work, belongs to this hair Bright protected range.

A kind of gynemetrics's complete-automatic check imaging system of the present invention, as shown in Figure 1 to Figure 3, including examination couch, machine vision Inspection system, injecting systems, compuscan and central control system, the central control system include signal receiving end, Central processing unit, driving indication end and signal display end, the signal receiving end respectively with central processing unit and signal display end It is connected, the central processing unit is connected with driving indication end, the signal of the machine vision inspection system and central control system Receiving end is connected, and the injecting systems and compuscan are connected with the driving indication end of central control system respectively.

The machine vision inspection system includes signal acquisition end, signal processor, database and the signal being sequentially connected Output end, the signal output end are connected with the signal receiving end of central control system, and the signal acquisition end for obtaining in real time The image or video information at human body position to be checked on examination couch, injecting systems and compuscan are taken, in the database It include the standard picture at human body position to be checked, injecting systems and compuscan.

The signal acquisition end is preferably camera, can obtain human body position to be checked, injecting systems and ultrasound in real time The image or video information of diagnostic system.

The signal processor of the machine vision inspection system for identification with extract characteristics of image, and by signal output The characteristics of image monitored is sent to the signal receiving end of central control system, the central processing unit root of central control system by end According to the real-time behavioral characteristics of image, driving indication signal is calculated, is sent out by driving indication end to injecting systems and compuscan Send driving indication signal.

Further, described image feature includes color characteristic, textural characteristics, shape feature and spatial relation characteristics, in Central processor according to according to color characteristic, textural characteristics, shape feature and spatial relation characteristics can determine whether human body position to be checked, Injection catheter syringe and ultrasonic probe relative positional relationship, are obtained by calculation accurate mobile data, including moving direction, Angle and distance data.

Wherein, image space relationship characteristic includes relative tertiary location information and absolute spatial position information, and former closes It is the relative case it is emphasised that between target, such as upper and lower left-right relation；Latter relationship it is emphasised that between target away from From size and orientation.Spatial relationship has several features such as scale, cognition, level, topology, and wherein topological characteristic passes through topology Relationship and angular relationship description.

Topological relation refers to the spatial relationship that remains unchanged under topological transformation (rotation, translation, scaling etc.), using point From, include, be contained in, cover, be covered in, it is of equal value, intersect and the relationship description that connects, be denoted as dt, ct, in, co, cb, eq, ov, To }, wherein the distance of different topology relationship, which calculates, uses formula (1):

Angular relationship between objects in images is the minimum circumscribed rectangle mass center line and X-axis forward direction of two objects in image Corner dimension.Assuming that angle θ is the angular relationship for obtaining objects in images P and object Q, then any two angular relationship RA and RB Between distance DA (RA, RB) with formula (2) determine:

Wherein, θ_ABTo obtain object P and object Q in the line of objects in images P and object Q and the standard picture of database Line constitute directed line segment angle.If obtaining the direction relations RA=α of objects in images P and object Q, database diagram The direction relations RB=β of object P, Q, then θ as in_ABAs shown in formula (3):

Further, the injecting systems include injection catheter, syringe and injection driving mechanism, ultrasound diagnosis system System includes ultrasonic probe, probe driving mechanism and three-dimensional imaging mechanism.

Further, the injection driving mechanism includes power drive unit, metering pump and pressure sensor, the power Driving device is connected with the driving indication end of central control system, for driving injection catheter to be accurately put into personnel's uterine cavity to be checked It is interior, it is also used to drive syringe from conduit to palace intracavitary administration contrast agent；The metering pump is connected with syringe, makes for controlling Shadow agent injection volume；The pressure sensor is connected with the signal receiving end of syringe and central control system respectively, for detecting Injection pressure, and pressure data is sent to central control system.

Preferably, the contrast agent is micro air bubble ultrasonic contrast medium.

Further, the probe driving mechanism of the compuscan respectively with ultrasonic probe and central control system Drive indication end be connected, probe driving mechanism driving indication end issue indication signal effect under, driving ultrasonic probe to Check point is accurately positioned；The three-dimensional imaging mechanism further includes that the positioning being connected with the signal receiving end of central control system passes Sensor.

Further, the alignment sensor includes transmitter and receiver two parts, and transmitter is placed in a fixation Position, receiver can be pasted on ultrasonic probe, be used for detecting ultrasonic probe positions, to provide ultrasound probe position and refer to To six degree of freedom parameter.

Further, the ultrasonic probe is through abdomen probe or transvaginal probe, for treating the uterine cavity of inspection personnel Or fallopian tubal carries out supersonic sounding, and carries out 3-D image weight to uterine cavity shape or fallopian tubal form by three-dimensional imaging mechanism It builds.

The inspection imaging method of gynemetrics's complete-automatic check imaging system provided by the invention the following steps are included:

S1. personnel to be checked are lain on examination couch by specified posture, and the signal acquisition end of machine vision inspection system obtains Personnel to be checked, injection catheter, syringe and ultrasonic probe image or vision signal, signal processor extracts database standard Image obtains personnel to be checked position to be checked, injection catheter, syringe and ultrasonic probe to image or video frequency signal processing Relative position information, and be sent to by signal output end the signal receiving end of central control system；

S2. after the signal receiving end of central control system receives relative position information, it is sent to central processing unit, center The movable signal of injection catheter, syringe and ultrasonic probe, including moving direction, angle and distance is obtained by calculation in processor Data, and it is sent to driving indication end, driving indication end drives injection catheter and ultrasonic probe to be checked according to movable signal Position accurate positionin is looked into, then according to fallopian tubal and uterine cavity three-dimensional configuration, uterine cavity size is judged and whether backflows, thus Injection measurement is calculated, and syringe is driven to inject contrast agent from conduit to position to be checked by metering, when injecting contrast agent, pressure Sensor is by the signal receiving end of injection pressure data transmission to central control system；

S3. driving indication end is according to mobile, the comprehensive acquisition at position to be checked of driving indication signal driving ultrasonic probe Image in fallopian tubal or uterine cavity, and three-dimensional image reconstruction is carried out to uterine cavity shape, fallopian tubal form using 3 dimension imaging technology, And it is sent to the signal receiving end of central control system；

S4. the central processing unit of central control system according to pressure data judge fallopian tubal it is out of shape it is whether tortuous or stiff, It is whether unobstructed, according to the situation of uterine cavity and the 3-D image of fallopian tubal form assessment female internal genital road, effectively determine whether palace Interior occupy-place, bilateral salpingo have clog-free or owe the problems such as unobstructed.

Preferably, the acoustic contrast agent is the sound Novi of Bracco company, Italy, and the ultrasonic probe is through abdomen When probe, frequency 3.5MHz, when being transvaginal probe, frequency is 5.0~7.0MHz.

Further, in step s 2, the contrast agent injection amount ranges are 5~30ml.

Further, in step S2 and S3, two-dimensional ultrasonic image data by being transformed by the three-dimensional image reconstruction It is realized on three-dimensional lattice, in restructuring procedure, the picture element on plane of ultrasound coordinate system is transformed into space absolute coordinate system. It is that the picture element in plane of ultrasound coordinate system O '-x ' y ' z ' is transformed into the receiver coordinate system being attached on ultrasonic probe first O " is on-abc, space absolute coordinate system receiver coordinate system the O "-abc then provided according to positioning system determining with transmitter Transformational relation between O-xyz obtains position of each point in the absolute coordinate system of space on ultrasound image.Circular are as follows:

By demarcating measurement experiment, plane of ultrasound coordinate system O '-x ' y ' z ' and receiver coordinate system O "-have been obtained first Fixed conversion relationship between abc.This relationship includes transition matrix and O ' position (a in O "-abc coordinate system_o', b_o', c_o′).By O ' x ', space cosine of three axis of O ' y ', O ' z ' in O "-abc coordinate system is constituted matrix.If (a_p, b_p, c_p) it is ultrasound Coordinate of the P point in O " in-abc on the plane of delineation, (x_p', y_p', z_p') it is coordinate of this in plane of ultrasound coordinate system, cosT_x, cosU_x, cosV_x；cosT_y, cosU_y, cosV_y；cosT_z, cosU_z, cosV_zIt is that three axis of O ' x ' O ' y ', O ' z ' exists respectively Space cosine in O "-abc coordinate system.Then

Image pixel point coordinate is transformed into the space absolute coordinate system O- determined by location system transmitter from O "-abc In xyz.Coordinate relationship is provided by three-dimensional localization sensor, wherein shown in transition matrix such as formula (5):

In formula: θ x, θ y, θ z are respectively O " a axis, O " b axis, the O " Eulerian angles of c-axis relative to O-xyz.If (x_o″,y_o″, z_oThe coordinate of ") be point O " in Oxyz, (x_p,y_p,z_p) it is position of the point P in absolute space, then

After obtaining uterine cavity three-dimensional configuration, calculates uterine cavity volume size and be denoted as V_x, in central control system, according to medicine mark Standard is preset with the relational expression of uterine cavity volume V with corresponding contrast agent standard injection metering L, entreats control system according to uterine cavity volume V V is calculated with the relational expression of corresponding contrast agent standard injection metering L_xCorresponding injection measurement L_x, and it is sent to metering pump, it injects Driving mechanism carries out driving injection by metering.

The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto, Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.