CN115120270B

CN115120270B - Automatic breast screening system and storage medium

Info

Publication number: CN115120270B
Application number: CN202210346170.XA
Authority: CN
Inventors: 高毅; 何威震; 宋宏萍
Original assignee: Shenzhen University
Current assignee: Shenzhen University
Priority date: 2022-03-31
Filing date: 2022-03-31
Publication date: 2025-03-28
Anticipated expiration: 2042-03-31
Also published as: CN115120270A

Abstract

The embodiment of the invention discloses an automatic mammary gland screening system and a storage medium, wherein the system comprises a binocular vision device, an ultrasonic device, a first mechanical arm, a second mechanical arm, a puncture device, a processor, a memory and a computer program stored on the memory, when the processor executes the computer program, the processor realizes the following steps of acquiring two current images of a breast of a patient through the binocular vision device, determining the positions of the breasts in a first coordinate system in the two current images to obtain the positions of the breasts, controlling the first mechanical arm to drive a scanning box of the ultrasonic device to move to the positions of the breasts, controlling the scanning box to complete ultrasonic image acquisition of the breasts of the patient, determining the target position of the focus in the first coordinate system when the focus is detected to exist in the ultrasonic image and accords with preset puncture conditions, and controlling the second mechanical arm to drive the puncture device to execute puncture operation on the focus according to the target position. Solves the problem that the existing automatic screening method for breast cancer has at least lower accuracy.

Description

Automatic screening system for mammary gland and storage medium

Technical Field

The embodiment of the invention relates to the field of medical equipment, in particular to an automatic mammary gland screening system and a storage medium.

Background

The survival time and the pathological stage of the breast cancer patient are closely related, and the early the pathological stage, the higher the cure rate, so that the early diagnosis is particularly important under the condition that the primary prevention of the breast cancer is not good at present. Multiple studies have shown that large-scale breast cancer screening can find more early cases, and can lead to progressive decline in mortality in the context of ever-increasing prevalence. In recent years, ultrasonic technology has been vigorously developed, and particularly, ultrasonic technology for breast examination has become an important examination means for clinically widely recommending and screening early breast lesions due to good sensitivity of the ultrasonic technology to compact breast tissues. The automatic breast full-volume imaging, namely the ABUS technology is considered as an optimal ultrasonic scanning technology capable of covering the whole breast tissue, and the automatic breast full-volume imaging obtains the full-volume image of the breast through automatic scanning, so that lesions can be displayed in multiple layers and multiple angles, and the imaging of the lesions is more stereoscopic and visual. The automatic breast full-volume imaging has great advantages on the characteristic expression of breast malignant disease focus by using the unique coronal image, and improves the diagnosis accuracy.

The current automatic mammary gland ultrasonic screening method only acquires two-dimensional ultrasonic images, and has low accuracy.

The inventor finds that the existing automatic screening method for breast cancer has at least the problem of lower accuracy in the process of realizing the embodiment of the application.

Disclosure of Invention

The embodiment of the invention provides an automatic breast cancer screening system and a storage medium, which solve the problem of lower accuracy of the existing automatic breast cancer screening method.

In a first aspect, an embodiment of the present invention provides an automatic breast screening system, including a binocular vision device, an ultrasound device, a first mechanical arm, a second mechanical arm, a puncture device, a processor, a memory, and a computer program stored on the memory, where the processor implements the following steps when executing the computer program:

acquiring two current images of a breast of a patient through a binocular vision device, and determining the position of the breast in the two current images in a first coordinate system to obtain the position of the breast;

Controlling a first mechanical arm to drive a scanning box of an ultrasonic device to move to the breast position, and controlling the scanning box to complete ultrasonic image acquisition of the breast of a patient;

when detecting that a focus exists in an ultrasonic image and the focus accords with a preset puncture condition, determining a target position of the focus in a first coordinate system;

according to a second aspect of controlling a second mechanical arm to drive a puncture device to perform a puncture operation on the lesion according to the target position, an embodiment of the present invention further provides a storage medium containing computer executable instructions, which when executed by a computer processor, are configured to perform the following method:

According to the technical scheme of the breast screening method, the two current images of the breast of a patient are obtained through the binocular vision device, the position of the breast of the patient in a first coordinate system is determined according to the two current images to obtain the breast position, the first mechanical arm is controlled to drive the scanning box of the ultrasonic device to move to the breast position, the scanning box is controlled to complete ultrasonic image acquisition of the breast of the patient, when the focus is detected to exist in the ultrasonic image and accords with preset puncture conditions, the target position of the focus in the first coordinate system is determined, and the second mechanical arm is controlled to drive the puncture device to execute puncture operation on the focus according to the target position. The automatic puncture biopsy operation of the breast is guided by the automatically acquired ultrasonic image, so that the efficiency and accuracy of the breast puncture biopsy are improved, the dependence on the experience of medical staff is reduced, the large-scale population breast cancer screening is possible, and the popularization speed of breast screening is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of an automatic breast screening system according to a first embodiment of the present invention;

FIG. 2 is a block diagram of an automatic breast screening system according to an embodiment of the present invention;

Fig. 3 is a flowchart of an automatic screening method for mammary glands according to a first embodiment of the present invention.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described by means of implementation examples with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Example 1

Fig. 1 is a schematic diagram of an automatic breast screening system provided by an embodiment of the present invention. The technical scheme of the embodiment is suitable for the condition of automatic screening of breast cancer. As shown in fig. 1 and 2, the automatic breast screening system comprises a binocular vision device 1, a first mechanical arm 2, a second mechanical arm 3, an ultrasonic device 4, a puncture device 5, a processor 6, a memory 7 and a computer program stored on the memory 7. Wherein the scan box 41 of the ultrasonic device 4 is disposed at the free end of the first mechanical arm 2, and the puncture device 5 is disposed at the free end of the second mechanical arm 3. As shown in fig. 3, the processor 6, when executing the computer program, implements the following steps of an automatic breast screening method:

S101, acquiring two current images of the breast of the patient through a binocular vision device, and determining the positions of the breasts in the two current images in a first coordinate system to obtain the positions of the breasts.

The binocular vision apparatus 1 may be any conventional binocular vision apparatus, and the present embodiment is not particularly limited herein. As shown in fig. 1, the binocular vision apparatus 1 is used to acquire two current images of a patient's breast on a scanning bed 8. It will be appreciated that the acquisition view angles of the two current images are different and that a three-dimensional image of the patient's breast can be determined from the two current images at the different view angles.

In one embodiment, two current images of the breast of the patient are acquired through a binocular vision device arranged in a first coordinate system, breast segmentation and breast three-dimensional reconstruction are carried out on the two current images based on a preset point cloud algorithm, and a scanning contact area of the breast of the patient and the outline of the scanning contact area are determined according to a breast three-dimensional reconstruction result.

Optionally, the binocular vision apparatus 1, the first robot arm 2, the second robot arm 3 are set to one coordinate system, i.e., the first coordinate system.

S102, controlling the first mechanical arm to drive the scanning box of the ultrasonic device to move to the breast position, and controlling the scanning box to complete ultrasonic image acquisition of the breast of the patient.

The ultrasound device in this embodiment is a three-dimensional ultrasound device, such as an automatic breast full volume ultrasound (automated breast ultRASound system, ABUS for short). Three-dimensional ultrasound increases coronal imaging compared to normal ultrasound and does not rely too much on an operator. In this embodiment, ABUS is taken as an example to explain the technical scheme. The ABUS can obtain a full-volume image of the mammary gland through automatic scanning, and the full-volume image can display lesions in multiple layers and multiple angles, so that the imaging of the lesions is more stereoscopic and visual, and the problem that the accuracy of a two-dimensional ultrasonic image in the aspect of mammary gland screening is lower is solved.

The ultrasound device 4 in this embodiment comprises a scanning cassette 41 and a display device 42, the scanning cassette 41 comprising a scanning probe, the scanning cassette being placed on the skin of the breast of the patient during an ultrasound scanning process, the display device 42 being arranged to display an ultrasound image corresponding to ultrasound information received by the scanning cassette. After determining the position of the breast of the patient in the first coordinate system, the first mechanical arm is controlled to drive the scanning box of the ultrasonic device to move to the breast position, and then the scanning box is controlled to acquire the ultrasonic image of the breast of the patient.

In one embodiment, after determining the breast position of the breast of the patient in the first coordinate system, determining a motion control code for the first mechanical arm to drive the scanning box to move from the current position to the neighborhood of the breast position, then controlling the first mechanical arm to drive the scanning box to move from the current position to the neighborhood of the breast position through the motion code so as to enable the scanning box to be attached to the skin of the breast, and then controlling the scanning box to acquire the ultrasonic image of the breast of the patient.

It will be appreciated that the depth to which the cassette presses against the breast is different when acquiring ultrasound images of the patient's breast. Additionally, the elasticity of the breast is large, and the sizes of the breasts of different human bodies are greatly different, so that the ultrasonic images acquired by the scanning boxes positioned at the position of the breast and in the neighborhood of the position of the breast may not accurately locate the focus.

Therefore, when the generation of the ultrasonic image is detected, the embodiment firstly determines whether the current ultrasonic image is effective, if not, determines the posture adjustment strategy, adjusts the scanning posture of the scanning box according to the posture adjustment strategy, controls the scanning box after the scanning posture adjustment to acquire the current ultrasonic image of the breast of the patient, and then jumps to the step of determining the effectiveness of the current ultrasonic image until the current ultrasonic image is the effective ultrasonic image.

In one embodiment, after the scanning contact area of the breast of the patient is determined, that is, after the position of the scanning contact area of the breast of the patient in the first coordinate system is determined, the current position of the first mechanical arm is obtained, then a motion control code for controlling the motion of the first mechanical arm is determined according to the scanning contact area and the current position, the first mechanical arm is controlled to move from the current position to the scanning contact area through the motion control code, when the first mechanical arm is detected to move to the scanning contact area, the scanning posture of the scanning box is adjusted according to the outline of the scanning contact area of the breast of the patient, the scanning box after the scanning posture adjustment is controlled to perform ultrasonic acquisition operation on the breast of the patient, the quality of an ultrasonic image acquired by the scanning box for the first time can be improved, the number of times of posture adjustment of the scanning box can be reduced, and accordingly the acquisition efficiency of the ultrasonic image of the breast of the patient can be improved.

And S103, when detecting that the focus exists in the ultrasonic image and the focus accords with a preset puncture condition, determining the target position of the focus in a first coordinate system.

In one embodiment, the lesion model is created based on a convolutional neural network, such as a 3D-Unet network (i.e., AI diagnostic algorithm). Training samples of a plurality of focuses are input into the focus model for training to obtain a pre-trained focus model. It will be appreciated that the pre-trained lesion model may allow for lesion identification and localization. Optionally, the pre-trained lesion model is also used to output lesion diagnostic results, such as malignancy classification. The diagnostic results may be sent to the patient terminal in the form of WeChat public number, applet, APP, etc. In order to facilitate the understanding of the diagnosis result by the user, the diagnosis result is presented in a graphic form.

In one embodiment, for the user's ultrasound diagnostic results, the system may be classified into different levels according to the BI-RADS (Breast imaging reporting AND DATA SYSTEM, i.e., mammography report and data system), thereby providing a more canonical, understandable diagnostic report to the user. Wherein, each grading meaning is as follows:

Level 0, recall is needed, and the evaluation is carried out after other examination is combined;

i, no abnormality is found;

class II, consider benign changes, suggest periodic follow-up (e.g., once a year);

grade III, benign disease is likely, but the follow-up period needs to be shortened (e.g. once in 3-6 months);

Grade IV, abnormal, unable to completely eliminate malignant lesions, need to be biopsied clearly;

grade IVa, low tendency to malignancy, need to be biopsied clearly;

Grade IVb, moderate tendency to malignancy, requires definitive biopsy;

IVc grade, high possibility of malignancy tendency, clear biopsy is needed;

Grade V, highly suspected malignant lesions (almost recognized as malignant disease), requiring surgical excision biopsies;

grade VI, has been demonstrated by pathology to be malignant.

Clinically, needle biopsies are required if the BI-RADS grade of the lesion reaches grade 0 or grade 3 and above. Therefore, in this embodiment, the BI-RADS classification of the lesion reaches level 0 or level 3 or more.

In one embodiment, the validity of the current ultrasound image is determined based on a pre-trained pose adjustment model. The pre-trained pose adjustment model is used to output a valid identification when the current ultrasound image is valid. The processor determines whether a focus exists in the current ultrasonic image based on a focus model trained in advance when the effective mark is detected, outputs a puncture mark and the position of the focus in the ultrasonic image when the focus exists, and outputs a mark for representing that the breast is good when the focus does not exist. It can be understood that the puncture mark means that the focus meets the preset puncture condition, so that the position of the focus in the ultrasonic image is mapped into the first coordinate system based on the conversion relation between the coordinate system of the ultrasonic image and the first coordinate system to obtain the target position of the focus in the first coordinate system.

In one embodiment, the pre-trained focus model does not directly output puncture identification, but outputs malignancy grade of the breast, when the processor detects that the malignancy grade of the breast meets preset puncture condition, the processor maps the position of the focus in the ultrasonic image to the first coordinate system based on the conversion relation between the coordinate system where the ultrasonic image is positioned and the first coordinate system to obtain the target position of the focus in the first coordinate system, and when the processor detects that the malignancy grade of the breast output by the pre-trained focus model does not meet the preset puncture condition or detects that the pre-trained focus model outputs identification for representing good breast, the processor ends the breast screening flow of the current patient and simultaneously outputs prompt information for ending the breast screening of the current patient.

In one embodiment, two current images of a breast of a patient are acquired through a binocular vision device, coordinates of a preset position of a scanning box surface in the two current images in a first coordinate system are determined, the coordinates of a preset mark point in the first coordinate system are determined according to the coordinates of the preset position in the first coordinate system and the position relation between the preset position and the preset mark point, and then the coordinates of the focus in the ultrasonic image are mapped into the first coordinate system according to the coordinates of the preset mark point in the first coordinate system and the ultrasonic image and the position relation between the focus and the preset mark point in the ultrasonic image respectively, so that the target position of the focus in the first coordinate system is obtained. Wherein the preset mark points are arranged on the scanning box probe. The preset mark point is a virtual mark point. It will be appreciated that, when the position of the predetermined marker point on the scan box probe is determined, its coordinates on the ultrasound image are correspondingly determined.

S104, controlling the second mechanical arm to drive the puncture device to perform puncture operation on the focus according to the target position.

The embodiment is particularly suitable for a user who is informed of the need for a needle biopsy, at which time, when a processor detects a lesion in an ultrasound image, it determines again the classification of the lesion, if the classification of the lesion is still 0 level or 3 levels and above, directly determines the target position of the lesion in the first coordinate system, and performs a needle biopsy operation according to the target position.

In one embodiment, a user does not determine whether biopsy is needed in advance, the processor determines the classification of a focus when detecting the focus in an ultrasonic image, if the classification of the focus is 0 level or 3 level or more, then puncture confirmation information is output, a current patient is enabled to confirm whether puncture biopsy is needed currently, the target position of the focus in a first coordinate system is determined when the confirmation information of the current patient is detected, and the breast screening flow of the current patient is ended when the discard information of the current patient is detected.

In one embodiment, after determining a target position of a focus in a first coordinate system, acquiring a current position of a puncture device, generating a motion control code for controlling a second mechanical arm to drive the puncture device to move from the current position to the target position according to the current position and the target position, controlling the second mechanical arm to drive the puncture device to move from the current position to the target position through the motion control code, generating a puncture control code when detecting that the puncture device moves to the target position, and controlling the second mechanical arm to operate the puncture device through the puncture control code to finish operation of taking a biopsy of the focus.

In one embodiment, after determining a target position of a focus in a first coordinate system, determining a puncture needle position of a breast of a patient according to the target position, acquiring a current position of a puncture device at the same time, generating a motion control code for controlling a second mechanical arm to drive the puncture device to move from the current position to the puncture needle position according to the current position and the target position, controlling the second mechanical arm to drive the puncture device to move from the current position to the motion needle position through the motion control code, acquiring the current position of the puncture device again when detecting that the puncture device moves to the neighborhood of the motion needle position, generating a motion control code for fine-adjusting the position of the second mechanical arm, and controlling the second mechanical arm to conduct fine-adjustment through the motion control code so as to accurately move the puncture device from the current position to the puncture needle position. It will be appreciated that in order to accurately move the second mechanical arm to the puncture needle insertion position, the second mechanical arm may be fine-tuned one or more times and, upon detecting that the second mechanical arm is accurately moved to the puncture needle insertion position, the second mechanical arm is controlled to perform a needle biopsy operation on the breast lesion. Through the position fine adjustment of the second mechanical arm, the second mechanical arm can accurately drive the puncture device to the puncture needle-inserting position, and the accuracy of the second mechanical arm for controlling the puncture device to puncture and take biopsy is improved.

In one embodiment, the system further comprises an information input module and a number calling module, wherein the information input module is used for acquiring the patient information, such as reading the identity card information through a chip or manually inputting the patient identity information. It will be appreciated that the latter may be entered manually by a person through the terminal device. And generating a screening serial number of the patient according to the diagnosis information and the acquisition time of the diagnosis information, and adding the screening serial number of the patient to a screening waiting sequence according to the screening serial number of the patient.

The number calling module is used for outputting the treatment information of the current patient in the screening waiting sequence to the display screen, and outputting the examination starting information when the confirmation information of the patient is received so as to ensure that the screening work is orderly carried out. In one embodiment, the user terminal is connected to the breast ultrasound screening system via a wireless network, for example, the user terminal establishes a communication connection with the service center by logging in a corresponding public number in a WeChat, or establishes a communication connection with the service center via a corresponding APP. Thus, the user can receive the number calling information from the service center through the public number or the APP. Of course, the user can receive account information, ultrasonic images, diagnosis results, and the like in addition to the number calling signal.

In one embodiment, to achieve better health management, the diagnostic results of each user are stored in account information in a database, and subsequent screening arrangements and medical information related to female health are pushed to the user based on the diagnostic results of the user. For example, if the screening results of the user are BI-RADS 1 and BI-RADS 2, the user may be considered to be in a normal state at present, but there is no guarantee that no subsequent breast diseases will occur. In this case, after 1 year of this examination, the system will send a reminder to the user to remind the user to screen for breast cancer in the second year in time.

The technical scheme of the breast screening method includes that two current images of a breast of a patient are obtained through a binocular vision device, positions of the breasts in the two current images in a first coordinate system are determined to obtain breast positions, a first mechanical arm is controlled to drive a scanning box of an ultrasonic device to move to the breast positions, the scanning box is controlled to complete ultrasonic image collection of the breast of the patient, when a focus is detected to exist in the ultrasonic image and meets preset puncture conditions, the target position of the focus in the first coordinate system is determined, and a second mechanical arm is controlled to drive a puncture device to perform puncture operation on the focus according to the target position. The second mechanical arm is guided by the automatically acquired ultrasonic image of the breast of the patient to automatically complete the operation of puncture biopsy of the breast of the patient, so that the efficiency and accuracy of the breast puncture biopsy are improved, the dependence on the experience of medical staff is reduced, the large-scale population breast cancer screening is possible, and the popularization speed of breast screening is improved.

Example two

Embodiments of the present invention also provide a storage medium containing computer executable instructions, which when executed by a computer processor, are for performing the following method of breast automatic screening, comprising:

And controlling a second mechanical arm to drive a puncture device to perform puncture operation on the focus according to the target position.

Of course, the storage medium containing the computer executable instructions provided in the embodiments of the present invention is not limited to the method operations described above, and may also perform the related operations in the method for automatically screening mammary glands provided in any embodiment of the present invention.

From the above description of embodiments, it will be clear to a person skilled in the art that the present invention may be implemented by means of software and necessary general purpose hardware, but of course also by means of hardware, although in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a FLASH Memory (FLASH), a hard disk, or an optical disk of a computer, where the instructions include a plurality of instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform the breast automatic screening method according to the embodiments of the present invention.

Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.

Claims

1. The automatic mammary gland screening system is characterized by comprising a binocular vision device, an ultrasonic device, a first mechanical arm, a second mechanical arm, a puncture device, a processor, a memory and a computer program stored on the memory, wherein the processor realizes the following steps when executing the computer program:

controlling a second mechanical arm to drive a puncture device to perform puncture operation on the focus according to the target position;

Wherein determining a target location of the lesion in a first coordinate system comprises:

acquiring two current images of the breast of the patient through a binocular vision device;

Determining coordinates of preset positions of the surfaces of the scanning boxes in the two current images in a first coordinate system;

Determining coordinates of preset mark points in a first coordinate system according to the coordinates of the preset positions in the first coordinate system and the position relation between the preset positions and the preset mark points, wherein the preset mark points are arranged on the scanning box probe;

According to the coordinates of the preset mark points in the first coordinate system and the ultrasonic image and the position relation between the focus in the ultrasonic image and the preset mark points, mapping the coordinates of the focus in the ultrasonic image into the first coordinate system to obtain the target position of the focus in the first coordinate system;

The method for obtaining the breast position of the patient by using the binocular vision device comprises the steps of obtaining two current images of the breast of the patient by using the binocular vision device, determining the position of the breast in a first coordinate system in the two current images, and obtaining the breast position, wherein the method comprises the following steps:

acquiring two current images of the breast of the patient through a binocular vision device arranged in a first coordinate system;

Performing breast segmentation and breast three-dimensional reconstruction on the two current images based on a preset point cloud algorithm, and determining a scanning contact area of the breast of the patient and the outline of the scanning contact area according to a breast three-dimensional reconstruction result;

the first mechanical arm is controlled to drive a scanning box of the ultrasonic device to move to the breast position, and the scanning box is controlled to complete ultrasonic image acquisition of the breast of the patient, and the method comprises the following steps:

controlling a first mechanical arm to drive a scanning box of the ultrasonic device to move to the scanning contact area;

and adjusting the scanning posture of the scanning box according to the outline of the scanning contact area, and controlling the scanning box to complete the ultrasonic image acquisition of the breast of the patient.

2. The automated breast screening system of claim 1, wherein determining a target location of a lesion in a first coordinate system when a lesion in an ultrasound image is detected and the lesion meets a preset penetration condition comprises:

Determining whether the current ultrasound image is valid;

If yes, detecting a focus in the ultrasonic image, and determining a target position of the focus in a first coordinate system when the focus in the ultrasonic image is detected and accords with a preset puncture condition.

3. The automated breast screening system of claim 2, wherein after said determining if the current ultrasound image is valid, further comprising:

If not, determining an attitude adjustment strategy, adjusting the scanning attitude of the scanning box according to the attitude adjustment strategy, controlling the scanning box after the scanning attitude adjustment to acquire the current ultrasonic image of the breast of the patient, and returning to the step of determining whether the current ultrasonic image is effective.

4. The automated breast screening system of claim 3, wherein said determining if the current ultrasound image is valid and if not, determining a pose adjustment strategy comprises:

determining the validity of the current ultrasonic image based on a pre-trained posture adjustment model;

the pre-trained posture adjustment model outputs a posture adjustment strategy when the current ultrasonic image is invalid, and outputs an effective mark when the current ultrasonic image is valid.

5. The automated breast screening system of claim 4, wherein detecting a lesion in the ultrasound image and determining a target location of the lesion in a first coordinate system when the lesion in the ultrasound image is detected and the lesion meets a predetermined penetration condition comprises:

inputting the ultrasonic image into a pre-trained focus model when the effective mark is detected;

When the pre-trained focus model is detected to output a puncture mark and the position of a focus in an ultrasonic image, mapping the position of the focus in the ultrasonic image into a first coordinate system based on the conversion relation between the coordinate system of the ultrasonic image and the first coordinate system so as to obtain the target position of the focus in the first coordinate system.

6. The automated breast screening system of claim 5, wherein the pre-trained lesion model is further configured to determine and output breast malignancy classification results.

7. The automated breast screening system of any of claims 1-6, wherein said controlling the second robotic arm to drive the puncturing device to perform a puncturing operation on the lesion based on the target location comprises:

determining a puncture needle position of the patient's breast from the target position;

And controlling a second mechanical arm to drive a puncture device to execute puncture biopsy operation on the focus according to the puncture needle insertion position.

8. A storage medium containing computer executable instructions, which when executed by a computer processor are for performing the method of: