DEVICE AND METHOD FOR DETECTING SPATIAL POSITION AND THREE-DIMENSIONAL ATTITUDE OF ULTRASONIC PROBE

摘要

A device and method for detecting the spatial position and the three-dimensional attitude of an ultrasonic probe. The device comprises an ultrasonic coupling pad (102) in which reflection particles (103) are embedded and an additional probe group (104) which is composed of a plurality of high-frequency positioning ultrasonic transducers. The ultrasonic coupling pad (102) in which reflection particles (103) are embedded comprises an ultrasonic coupling pad base and reflection particles (103) which are embedded in the ultrasonic coupling pad base. The detection method comprises: using the additional probe group (104) to transmit a high-frequency positioning ultrasonic wave to the ultrasonic coupling pad (102) and receive an echo wave reflected by the reflection particles (103) of which the accurate spatial position is known in the ultrasonic coupling pad (102); according to the round-trip propagation time of the high-frequency positioning ultrasonic wave, calculating the spatial position of the additional probe group (104), and then determining the spatial position of an ultrasonic probe (105); and determining the three-dimensional attitude of the ultrasonic probe (105) by combining with an inclination angle of the ultrasonic probe (105). The present invention has a simple structure, strong interference immunity, accurate positioning and a simple and easy algorithm, is easy to mate with an existing ultrasonic detection device, and has very strong universality.