CN100444803C - Three-dimensional type-B ultrasonic diagnostic apparatus based on stereoscopic vision - Google Patents
Three-dimensional type-B ultrasonic diagnostic apparatus based on stereoscopic vision Download PDFInfo
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- CN100444803C CN100444803C CNB2006101134028A CN200610113402A CN100444803C CN 100444803 C CN100444803 C CN 100444803C CN B2006101134028 A CNB2006101134028 A CN B2006101134028A CN 200610113402 A CN200610113402 A CN 200610113402A CN 100444803 C CN100444803 C CN 100444803C
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Abstract
The three-dimensional type-B ultrasonic diagnostic apparatus based on stereoscopic vision consists of a CCD video camera, a type-B ultrasonic diagnostic apparatus, a synchronizer, a marker, a multiplex image acquisition card, an acquisition trigger, a computer with corresponding software system, a line sync line and a field sync line for the CCD video camera, a video signal line, a video signal line for the type-B ultrasonic diagnostic apparatus, a triggering signal line and a PCI bus connected together. The present invention has hand moved probe, integrated locator and three-dimensional reconstructing system, low cost, high locating accuracy and use convenience.
Description
(1), technical field:
The invention belongs to technical field of medical instruments, particularly a kind of location of B ultrasonic image and three-dimensional reconstruction device.
(2), background technology:
The three-dimensional type-B ultrasonic imaging has become a kind of important medical diagnosis technology.(for example radiotherapy in the art) under many circumstances, the doctor not only needs three-dimensional type-B ultrasonic image itself, and need know the exact position of three-dimensional type-B ultrasonic image in fixed coordinate system (as the human body coordinate system).Therefore location technology is a core of three-dimensional type-B ultrasonic.
The three-dimensional type-B ultrasonic system has had a lot, but great majority can't move freely the probe of B ultrasonic in imaging process.Be subjected to the restriction of mechanical type positioner, probe can only be done the motion of parallel motion or other fixation locus.This is also inconvenient concerning most B ultrasonic detect.For the probe that can free-hand (Freehand) moves freely, its accurate localization technology (calculate 6 dimension coordinates of probe: three position coordinateses, three angle coordinates) is a difficult point.
The Stradx/Stradwin three-dimensional type-B ultrasonic system of univ cambridge uk's exploitation, can free-handly move freely probe, but need to match in using with special localizer, as with the Fastrak or patriot (Patriot) localizer of U.S. Polhemus company, the mini bird (MiniBird) of U.S. Ascension company, group bird (Flock of Birds) or laser bird (LaserBird) localizer, Polaris (Polaris) localizer of perhaps Canadian NDI company.The SINTEF of international research mechanism has also developed the three-dimensional type-B ultrasonic system that can free-handly move freely probe, but need be used in combination with group bird (Flock of Birds), Polaris localizers such as (Polaris).Said system itself includes only the three-dimensional reconstruction function of B ultrasonic, must buy localizer in addition and could use in practice, and this has improved cost virtually, causes the integrated level of system not high in addition, installs, debugs and operate all more complicated.
For localizer, Fastrak, patriot (Patriot), mini bird (MiniBird) and group bird (Flockof Birds) all are electromagnetic types, though low price, positioning accuracy is poor, and majority be wired, use and inconvenience; And the electromagnetic radiation that wireless electromagnetic location device produces may have harmful effect to other armarium.Laser bird (LaserBird) is a laser locator, and precision is higher, but costs an arm and a leg, complicated operation.Polaris (Polaris) is the infrared ray localizer, uses morely clinically, and precision is also higher, but same relatively more expensive.All need initiatively transmitting illuminant based on laser and ultrared localizer, use inconvenient.Also have a kind of localizer based on visible light, do not need transmitting illuminant, wavelength of visible light is shorter than infrared ray simultaneously, and therefore the ratio of precision infrared ray localizer of this localizer wants high.The Micron Tracker that Canada Claron company produces just is based on the localizer of visible light, and precision is very high, but price is also very expensive, and the integration capability of Micron Tracker and three-dimensional type-B ultrasonic reconstructing system is poor in addition.
(3), summary of the invention:
Not high in order to overcome three-dimensional type-B ultrasonic system price costliness, the integrated level that can free-handly move freely probe, and join localizer cost height, the insufficient shortcoming of positioning accuracy outward, the invention provides a kind of new three-dimensional type-B ultrasonic diagnostic apparatus.This device can free-handly move freely under the prerequisite of probe in assurance, and localizer and three-dimensional reconstruction system are combined, and does not need the independent localizer of buying, and can significantly save cost; Use positioning principle simultaneously based on visible light and stereoscopic vision, the positioning accuracy height, easy to use.
Technical scheme of the present invention is as follows: (seeing also shown in Fig. 1,2,3)
A kind of three-dimensional type-B ultrasonic diagnostic apparatus of the present invention based on stereoscopic vision, it is (can gather video by two ccd video cameras, have outer synchronously), line synchronising signal line and field sync signal line, video signal cable, B ultrasonic video signal cable, line trigger signal and the pci bus of B ultrasonic machine (can gather two-dimentional B ultrasonic image, commercially available finished product), lock unit, marker, multichannel input picture capture card (having three tunnel inputs at least), trigger collection device, computer and systems soft ware, ccd video camera form; Ccd video camera is connected with lock unit with the field sync signal line by the line synchronising signal line, is connected with multichannel input picture capture card by video signal cable simultaneously; The B ultrasonic machine is connected with lock unit and multichannel input picture capture card by the B ultrasonic video signal cable; The trigger collection device is connected with multichannel input picture capture card by line trigger signal; Multichannel input picture capture card is connected with computer by pci bus; Marker directly is fixed on the probe of B ultrasonic machine.
Basic design philosophy of the present invention is:
In order to utilize stereoscopic vision to obtain the position and the angle of the B ultrasonic image that any time collects exactly, the synchronicity of camera review collection and B ultrasonic machine image acquisition is most important.Realizing by outer synchronization scenario synchronously of video camera and B ultrasonic machine image acquisition.The synchronizing signal of video camera is separated from the B ultrasonic signal by lock unit, comes the line frequency and the field frequency of synchronous video camera then by the outer synchronous port of video camera, thereby two video cameras and B ultrasonic machine is synchronously strict when guaranteeing image acquisition.
The connected mode that each module of the present invention is detailed is described below.
(1) ccd video camera:
The circuit of two ccd video cameras connects identical.Each video camera is drawn 4 connecting lines: power line, line synchronising signal line (input) and field sync signal line (input) and video signal cable (output).Wherein, the line synchronising signal line is connected with lock unit with the field sync signal line, provides input by the isolating synchronizing signal of lock unit, the synchronous and next synchronous video camera of field sync signal line by row; Video signal cable is connected with multichannel input picture capture card, and the video signal of system after providing synchronously is provided.
(2) B ultrasonic machine:
The B ultrasonic machine is connected with lock unit with image pick-up card by B ultrasonic video signal cable (output), provides the row of video camera, the separation reference signal of field sync signal for lock unit when providing the B ultrasonic video image for image pick-up card.
(3) lock unit:
Lock unit has 6 to draw interface: the line synchronising signal interface (output) of video camera A and the line synchronising signal interface (output) of field sync signal interface (output), video camera B are with field sync signal line interface (output), power interface and separate reference signal interface (input).Wherein, 4 synchronizing signal interfaces and two corresponding connections of video camera; Separating the reference signal interface is connected with the B ultrasonic video signal cable.
(4) marker:
The effect of marker is to locate the probe of B ultrasonic machine.Marker is to have special pattern (as chequered with black and white grid), be easy to the device discerned by video camera, referring to Fig. 3.There is fixture the marker lower end, can be fixed on the probe of B ultrasonic machine, and make the relative position between marker and the probe known.By coordinate and the angle that stereoscopic vision is come the telltale mark device, also just can converse the coordinate and the angle of probe.Because the image and the B ultrasonic image of the marker of shot by camera are synchronous, therefore also just obtained the coordinate and the angle of B ultrasonic image.
(5) multichannel input picture capture card:
Multichannel input picture capture card is connected on the computer by known method, for example inserts the PCI slot, connects by pci bus.Multichannel input picture capture card receives the input of two-way camera review and the input of one road B ultrasonic image.
(6) trigger collection device:
The effect of trigger collection device is the collection that triggers or stop image.The trigger collection device can be the mouse of pedal or computer.Pedal has power line and line trigger signal (output), and line trigger signal links to each other with image pick-up card, and the triggering signal of collection is provided for image pick-up card.Using pedal is user's operation for convenience, can trigger/stop the collection of image equally by the mouse of clicking computer.
(7) computer and systems soft ware:
Computer is used for installing image pick-up card and systems soft ware, and Fig. 4 is the flow chart of software algorithm, and systems soft ware can be realized functions such as the location of B ultrasonic image and three-dimensional reconstruction, and Fig. 3 is the example of software interface.
A kind of three-dimensional type-B ultrasonic diagnostic apparatus based on stereoscopic vision of the present invention has following advantage:
(1) to the motion of Ultrasonic-B probe without limits, the user can free-handly move freely Ultrasonic-B probe.
(2) localizer and three-dimensional reconstruction system are combined, do not need the independent localizer of buying, save cost.
(3) can be connected with the overwhelming majority's existing B ultrasonic machine, make system interchange good, cost reduces.
(4) use principle to position the positioning accuracy height based on visible light and stereoscopic vision.Positioner itself is transmitting illuminant not, and is wireless, contactless with human body, uses easily.
(5) realize the synchronously strict of camera review and B ultrasonic machine image, and the image synchronously can show all by computer, process is directly perceived, is convenient to check and checking.
(6) can accurate Calculation coordinate and the angle of two dimension B ultrasonic image in three-dimensional system of coordinate, realize the three-dimensional reconstruction of B ultrasonic image.
(4), description of drawings:
Fig. 1 is based on the The general frame of the three-dimensional type-B ultrasonic diagnostic apparatus of stereoscopic vision
Fig. 2 is based on the pictorial diagram of the three-dimensional type-B ultrasonic diagnostic apparatus of stereoscopic vision
Fig. 3 is based on the snapshot in three-dimensional type-B ultrasonic diagnostic apparatus when work of stereoscopic vision
Fig. 4 is based on the software algorithm flow chart of the three-dimensional type-B ultrasonic diagnostic apparatus of stereoscopic vision.
Number in the figure (primary structure) is as follows:
1, video camera 2, B ultrasonic machine 3, lock unit
4, marker 5, multichannel input picture capture card 6, trigger collection device
7, computer
8, line synchronising signal line and field sync signal line
9, camera video signal line 10, B ultrasonic video signal cable
11, line trigger signal 12, pci bus.
(5), the specific embodiment:
At first, see also shown in Fig. 1,2,3, wherein among Fig. 1 in order to simplify, line synchronising signal line and line of field sync signal line 8 usefulness of same video camera are represented.In addition, all power lines all are omitted.
Be a chassis among Fig. 2, lock unit 3, computer 7 are installed above the chassis, image pick-up card 5 has been installed in the computer, and two video cameras 1 are installed in the topmost of chassis by support.Device during system works among Fig. 2 links to each other (connectivity scenario as shown in Figure 1) with B ultrasonic machine 2, forms the complete three-dimensional B device based on stereoscopic vision.
The snapshot that obtains from 7 screens of the computer shown in Fig. 2 when Fig. 3 is system works, the i.e. software interface of system.Two width of cloth video images and a following width of cloth B ultrasonic image are strict synchronous above among Fig. 3.What show in the video image is that the hand-held Ultrasonic-B probe that is fixed with marker 4 of doctor is conducting a survey for patient.Because there is parallax in the marker that two width of cloth video images are taken, can calculate the coordinate and the angle of marker by the method for stereoscopic vision.And the B ultrasonic image gathered of the probe width of cloth of that shown in Fig. 3 just this moment, coordinate and the angle of this B ultrasonic image in three dimensions calculated simultaneously.
A kind of three-dimensional type-B ultrasonic diagnostic apparatus of the present invention based on stereoscopic vision, it is (can gather video by two ccd video cameras 1, have outer synchronously), compositions such as B ultrasonic machine 2 (can gather two-dimentional B ultrasonic image, commercially available finished product), lock unit 3, marker 4, multichannel input picture capture card 5 (having three tunnel inputs at least), trigger collection device 6, computer and systems soft ware 7; Annexation between the each several part as shown in Figure 1, the line synchronising signal line of two video cameras is connected with lock unit 3 respectively with field sync signal line 8, provide input by lock unit 3 isolating synchronizing signals, by line synchronising signal line and field sync signal line 8 synchronous two video cameras 1; The video signal cable 9 of two video cameras 1 is connected with multichannel input picture capture card 5, and the video signal of system after providing synchronously is provided; B ultrasonic machine 2 is connected with lock unit 3 with multichannel input picture capture card 5 by B ultrasonic video signal cable 10, provides the row of video camera, the separation reference signal of field sync signal for lock unit 3 when providing the B ultrasonic video signal for image pick-up card 5; Marker 4 is fixed on the probe of B ultrasonic machine 2, and the relative position between marker 4 and the probe is known; Multichannel input picture capture card 5 is installed on the PCI slot of computer 7; When making trigger collection device 6 with pedal, the line trigger signal 11 of pedal links to each other with image pick-up card 5, and the triggering signal of image acquisition is provided for image pick-up card 5; Systems soft ware is installed in the computer 7, and Fig. 4 is the flow chart of systems soft ware algorithm, can realize the location and the three-dimensional reconstruction function of B ultrasonic image.
A kind of three-dimensional type-B ultrasonic diagnostic apparatus of the present invention based on stereoscopic vision, its mode of operation is as follows:
Mode of operation based on the three-dimensional type-B ultrasonic diagnostic apparatus of stereoscopic vision has two kinds, and a kind of is the single frames pattern: a frame synchronization image is just gathered and handled to the every triggering of pedal or mouse once; Another kind is a continuous mode: after collection is triggered, the synchronization video sequence will continuously be gathered and handle in system, till the user stops to gather.
A kind of three-dimensional type-B ultrasonic diagnostic apparatus of the present invention based on stereoscopic vision, its operating procedure is as follows:
Three-dimensional type-B ultrasonic diagnostic apparatus based on stereoscopic vision can use in multiple occasions such as introoperative radiotherapies, and the example of operating procedure is as follows:
(1) before using, at first the stereoscopic vision navigation system is calibrated, just calibrate, eliminate its deviations.
(2) can get wherein that the coordinate of a video camera 1 is the three-dimensional fixation coordinate system, and doctor's ordinary practice to adopt the human body coordinate be the three-dimensional fixation coordinate system.At first get some gauge points during operation on body surface, adopt the single frames mode of operation then, by pedal or mouse, a gauge point is once then gathered and is located in every triggering.By coordinate transform, camera coordinate system is converted to the human body coordinate system that gauge point determines again.
(3) adopt continuous operation mode to carry out the collection and the three-dimensional reconstruction of B ultrasonic image.By pedal or mouse triggering collection, then B ultrasonic image and the synchronous marker video image of process are continuously gathered by system, the real-time coordinate and the angle of popping one's head in every frame that calculate from the video image of marker [4] just can be reconstructed into three-dimensional data volume with the B ultrasonic image sequence of gathering then.
Claims (8)
1, a kind of three-dimensional type-B ultrasonic diagnostic apparatus based on stereoscopic vision is characterized in that: it is made up of line synchronising signal line and field sync signal line, video signal cable, B ultrasonic video signal cable, line trigger signal and the pci bus of two ccd video cameras, B ultrasonic machine, lock unit, marker, multichannel input picture capture card, trigger collection device, computer and systems soft ware, ccd video camera; Wherein, ccd video camera is connected with lock unit with the field sync signal line by the line synchronising signal line, is connected with multichannel input picture capture card by video signal cable simultaneously; The B ultrasonic machine is connected with lock unit and multichannel input picture capture card by the B ultrasonic video signal cable; The trigger collection device is connected with multichannel input picture capture card by line trigger signal; Multichannel input picture capture card is connected with computer by pci bus; Marker directly is fixed on the probe of B ultrasonic machine.
2, a kind of three-dimensional type-B ultrasonic diagnostic apparatus based on stereoscopic vision according to claim 1, it is characterized in that: the circuit of these two ccd video cameras connects identical, and each video camera is drawn 4 connecting lines: power line, the line synchronising signal line that is used to import and field sync signal line and the video signal cable that is used to export; Wherein, the line synchronising signal line is connected with lock unit with the field sync signal line, provides input by the isolating synchronizing signal of lock unit, comes synchronous video camera by line synchronising signal line and field sync signal line; Video signal cable is connected with multichannel input picture capture card, and the video signal of system after providing synchronously is provided.
3, a kind of three-dimensional type-B ultrasonic diagnostic apparatus based on stereoscopic vision according to claim 1, it is characterized in that: this B ultrasonic machine is connected with lock unit with multichannel input picture capture card by the B ultrasonic video signal cable, provides the row of video camera, the separation reference signal of field sync signal for lock unit when providing the B ultrasonic video image for image pick-up card.
4, a kind of three-dimensional type-B ultrasonic diagnostic apparatus based on stereoscopic vision according to claim 1, it is characterized in that: this lock unit has 6 to draw interface: the line synchronising signal interface of the line synchronising signal interface of video camera 1 and field sync signal interface, video camera 2 is with field sync signal interface, power interface and separate the reference signal interface; Wherein, 4 synchronizing signal interfaces and two corresponding connections of video camera; Separating the reference signal interface is connected with the B ultrasonic video signal cable.
5, a kind of three-dimensional type-B ultrasonic diagnostic apparatus based on stereoscopic vision according to claim 1, it is characterized in that: the effect of this marker is to locate the probe of B ultrasonic machine; Marker is to be easy to the device discerned by video camera, and there is fixture the marker lower end, can be fixed on the probe of B ultrasonic machine, and make the relative position between marker and the probe known; By coordinate and the angle that stereoscopic vision is come the telltale mark device, can converse the coordinate and the angle of probe; Because the image and the B ultrasonic image of the marker of shot by camera are synchronous, therefore also just obtained the coordinate and the angle of B ultrasonic image.
6, a kind of three-dimensional type-B ultrasonic diagnostic apparatus based on stereoscopic vision according to claim 1 is characterized in that: this multichannel input picture capture card is connected on the computer by inserting the PCI slot; Multichannel input picture capture card receives the input of two-way camera review and the input of one road B ultrasonic image.
7, a kind of three-dimensional type-B ultrasonic diagnostic apparatus based on stereoscopic vision according to claim 1 is characterized in that: the effect of this trigger collection device is the collection that triggers or stop image; The trigger collection device is the Mus mark of pedal or computer; Pedal has power line and line trigger signal, and line trigger signal links to each other with image pick-up card, and the triggering signal of collection is provided for image pick-up card; Using pedal is user's operation for convenience, can trigger/stop the collection of image equally by the mouse of clicking computer.
8, a kind of three-dimensional type-B ultrasonic diagnostic apparatus based on stereoscopic vision according to claim 1, it is characterized in that: this computer is used for installing image pick-up card and systems soft ware, and systems soft ware can be realized the location and the three-dimensional reconstruction function of B ultrasonic image.
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| CNB2006101134028A CN100444803C (en) | 2006-09-27 | 2006-09-27 | Three-dimensional type-B ultrasonic diagnostic apparatus based on stereoscopic vision |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101449968B (en) * | 2008-12-31 | 2011-05-25 | 华中科技大学 | Method and device for in-phase measurement of near infrared brain function detector |
| CN101510295B (en) * | 2009-04-01 | 2013-01-23 | 苏州有色金属研究院有限公司 | Design method for machine vision system based on PCIe and Vision Assistan |
| EP3258852B1 (en) * | 2015-02-17 | 2018-10-17 | Koninklijke Philips N.V. | Device for positioning a marker in a 3d ultrasonic image volume |
| CN111544037B (en) * | 2020-05-12 | 2023-04-28 | 上海深至信息科技有限公司 | Ultrasonic positioning method and system based on binocular vision |
| CN111708302A (en) * | 2020-06-23 | 2020-09-25 | 吴松林 | System for synchronously acquiring biomechanical data by using mouse |
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| CN87209824U (en) * | 1987-07-01 | 1988-04-06 | 哈尔滨市船舶工程学院 | Location and angle measuring device for probe of ultrasonic cardio meter |
| CN1299055A (en) * | 1999-12-08 | 2001-06-13 | 中国科学院武汉物理与数学研究所 | Ultrasonic scan device for positioning knee of pipeline |
| US20030176790A1 (en) * | 2000-12-28 | 2003-09-18 | Guided Therapy Systems, Inc. | Visual imaging system for ultrasonic probe |
| CN201001736Y (en) * | 2006-09-27 | 2008-01-09 | 北京航空航天大学 | Three-dimension B ultrasound device based on stereo visual sense |
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2006
- 2006-09-27 CN CNB2006101134028A patent/CN100444803C/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN87209824U (en) * | 1987-07-01 | 1988-04-06 | 哈尔滨市船舶工程学院 | Location and angle measuring device for probe of ultrasonic cardio meter |
| CN1299055A (en) * | 1999-12-08 | 2001-06-13 | 中国科学院武汉物理与数学研究所 | Ultrasonic scan device for positioning knee of pipeline |
| US20030176790A1 (en) * | 2000-12-28 | 2003-09-18 | Guided Therapy Systems, Inc. | Visual imaging system for ultrasonic probe |
| CN201001736Y (en) * | 2006-09-27 | 2008-01-09 | 北京航空航天大学 | Three-dimension B ultrasound device based on stereo visual sense |
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