Fetal head direction measuring device and method

1. A fetal head direction measuring device, comprising a medical ultrasonic probe, an angle sensor, and a data processing unit, wherein the medical ultrasonic probe and the angle sensor are communicably connected with the data processing unit;

the angle sensor is fixed to the medical ultrasonic probe for sensing an angular change of a scanning direction of the medical ultrasonic probe without sensing location of the angle sensor;

the medical ultrasonic probe is configured to scan and acquire a preset ultrasonic image and to scan and acquire an ultrasonic image at an initial position; and

the data processing unit is configured to calculate a fetal head direction according to a directional angle α of preset fetal head feature points in the preset ultrasonic image and an included angle δ between an ultrasonic scanning direction vector I0 at an initial position of the probe according to an angle value sensed by the angle sensor at the initial position and an ultrasonic scanning direction vector I1 at a measurement position according to the angle value sensed by the angle sensor when acquiring the preset ultrasonic image and further wherein in the ultrasonic image acquired at said initial position the data processing unit is configured to determine a maternal pelvis orientation.

2. The fetal head direction measuring device of claim 1 , wherein the angle sensor comprises at least one reference axis and senses a rotation angle of the angle sensor body about the reference axis.

3. The fetal head direction measuring device of claim 2 , wherein the angle sensor is any one of a single-axis inclination sensor, a double-axis inclination sensor, a three-axis inclination sensor, a magnetometer, an acceleration sensor, a six-axis sensor, and a nine-axis sensor.

4. The fetal head direction measuring device of claim 2 , wherein the medical ultrasonic probe is a linear array type or convex array type probe, and a plane of a chip array of the medical ultrasonic probe is perpendicular to any one of the at least one reference axis of the angle sensor.

5. The fetal head direction measuring device of claim 4 , wherein the angle sensor is built in the medical ultrasonic probe.

6. The fetal head direction measuring device of claim 5 , wherein the medical ultrasonic probe is a wireless ultrasonic probe, and the medical ultrasonic probe and the angle sensor are communicably connected with the data processing unit wirelessly.

7. A fetal head direction measuring method based on the fetal head direction measuring device of claim 1 , the method comprising the following steps:

obtaining an angle value sensed by the angle sensor at an initial position of the probe;

acquiring an ultrasonic image at said initial position;

determining, in the ultrasonic image acquired at said initial position, a maternal pelvis orientation;

calculating an ultrasonic scanning direction vector I0 at the initial position according to the angle value sensed by the angle sensor at the initial position;

acquiring a preset ultrasonic image, and recording the angle value sensed by the angle sensor;

calculating an ultrasonic scanning direction vector I1 at a measurement position according to the angle value sensed by the angle sensor when acquiring the preset ultrasonic image;

marking preset fetal head feature points in the preset ultrasonic image, and calculating a directional angle α of the preset fetal head feature points in the preset ultrasonic image;

calculating an included angle δ between the vectors I0 and I1; and

determining the fetal head direction according to the directional angle α of the preset fetal head feature points in the preset ultrasonic image and the included angle δ.