Path Planning of Breast Ultrasound Scanning Based on Three-Dimensional Point Cloud Model

The incidence rate of breast cancer is increasing year by year in the world. Traditional breast ultrasound scanning methods are increasingly unable to meet people's medical needs. To improve the efficiency and accuracy of breast ultrasound scanning, a method of breast ultrasound scanning path planning based on three-dimensional (3D) point cloud model is proposed. A method of 3D breast point cloud reconstruction based on kinect camera is adopted. Kinect camera was calibrated and breast images were collected. 3D breast point cloud model was established based on spatial point. A method of extracting path points in ultrasound scanning based on the minimum two-dimensional fitting plane is proposed, and the extracted path points are fitted by cubic B-spline curve. The experimental platform was built and the hand-to-eye calibration experiment was conducted. Through the path error experiment of ultrasound scanning, it is verified that the average error between the planned path and the actual path in x, y, and z direction is 0.66 mm, 0.68 mm and 0.82 mm.