CN101807297B - Medical ultrasonic image line detection method - Google Patents
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Abstract
The invention discloses a medical ultrasonic image line detection method, which is invented for overcoming the defects of necessary manual operation, bad noiseproof performance, tremendous calculated amount and no real-time detection in the prior art. The method comprises the following steps: (1) the area of interest is chosen; (2) the current frame images are sampled; (3) the marginal point of each sample is found out; and (4) the found marginal point is calculated through random sampling consensus algorithm and a line is chosen to be the detected line according to the calculation result. Through the method, the calculated amount of the medical ultrasonic image line detection processing is reduced greatly, the noiseproof performance is strengthened, noise sensitivity is reduced, and the influence of speckle noise on the detection result is eliminated well and the real-time and automatic detection on the video frequency ultrasonic image can be realized.
Description
Technical field
The present invention relates to a kind of medical ultrasonic image line detection method.
Background technology
The ultrasonic demarcation that straight-line detection in the medical ultrasonic image is widely used in the freedom-arm, three-D ultrasonic image-forming system waits other application.Existing method mainly contains complete manually detect and based on two kinds of methods of straight-line detection of Hough transformation.Complete manual detection method needs operating personnel in every two field picture, to select two key points to confirm straight line in testing process, and this method is consuming time longer, and whole process all needs manually-operated, and testing result influenced by operating personnel's subjective factor bigger.Can realize the robotization of testing process based on the detection method of Hough transformation; But this method calculated amount is big; Can not realize real-time detection to the video ultrasonoscopy; And noise robustness is poor, and to the detection poor effect of low SNR images, and testing result can receive having a strong impact on of speckle noise in the ultrasonoscopy.
Summary of the invention
For overcoming above-mentioned defective; The objective of the invention is to propose a kind of method that can detect automatically to the straight line in the medical ultrasonic image of low signal-to-noise ratio; And make the speckle noise in the image as far as possible little to the influence of testing result; And the calculated amount in the processing procedure can not be too big, and computing machine can be handled the video image that collects in real time.
For achieving the above object, medical ultrasonic image line detection method of the present invention may further comprise the steps:
(1) chooses area-of-interest in the image;
(2) area-of-interest in the current two field picture is sampled;
(3) find out the marginal point of each sampling in sample;
(4) use the random sampling consistency algorithm that the marginal point of finding out is calculated, and choose straight line as detected straight line according to result of calculation;
Said step (2) is specially: choose a plurality of single column of pixels that are in the said area-of-interest in the horizontal direction, each selected single column of pixels is a sampling sample; Perhaps, preestablish a positive integer N as the SI, every in the horizontal direction then single column of pixels of being in the said area-of-interest vertically chosen at a distance from N pixel is as the sample of sampling.
Preferential, above-mentioned steps (1) is specially: through clicking the formation convex polygon, the zone in this convex polygon is said area-of-interest in image.
Preferential, above-mentioned steps (3) is specially: each sampling sample is carried out difference, find out the marginal point in said each sampling sample.
Preferential, above-mentioned steps (3) is specially: sets a gray threshold T1, from differentiated said each sampling sample, choose from top to bottom first gray-scale value above the pixel of said gray threshold T1 as marginal point; If all surpass said gray threshold T1 then choose the maximum gradation value point as marginal point.
Preferential, between above-mentioned steps (2) and step (3), also comprise step B: all the sampling samples to collecting use low-pass filter to carry out filtering.
Preferential, above-mentioned step (4) is specially:
(41) said each marginal point of finding out is combined into alternative straight in twos;
(42) calculating the consistent of every said alternative straight counts;
(43) the consistent maximal value d that counts of the said alternative straight of search;
(44) if having only consistent the counting of an alternative straight to be d, then this alternative straight is detected straight line; If it all is d that consistent the counting of many alternative straight arranged, then to every alternative straight wherein all calculate its d the consistent distance of putting this alternative straight with, and selected distance is detected straight line with that minimum alternative straight.
Preferential, above-mentioned step (42) is specially:
(421) calculate the distance of each marginal point to every alternative straight;
(422) result and the predefined distance threshold T2 with step (421) compares;
(423) to every alternative straight, count on the quantity of the distance of this alternative straight less than the marginal point of said distance threshold T2, this quantity is the consistent of this alternative straight and counts.
In the method for the invention described above, reduce calculated amount, and take measure such as filtering, suppress the influence of noise testing result through only the area-of-interest in the image being carried out straight-line detection; And irrelevant information in the rejection image as far as possible, reduce the calculated amount of operation such as Flame Image Process widely, accelerated real-time detection speed to video image.
Description of drawings
Fig. 1 is the FB(flow block) of medical ultrasonic image line detection method embodiment one of the present invention.
Fig. 2 is the FB(flow block) of medical ultrasonic image line detection method embodiment two of the present invention.
Fig. 3 is the FB(flow block) of medical ultrasonic image line detection method embodiment three of the present invention.
Fig. 4 is the synoptic diagram of " setting area-of-interest " step in Fig. 2 or the FB(flow block) shown in Figure 3.
Fig. 5 is the synoptic diagram of Fig. 1 " two field picture to current is sampled " step to the FB(flow block) shown in Figure 3.
Fig. 6 is the synoptic diagram of Fig. 1 step of " finding out the marginal point in the sampling sample " to the FB(flow block) shown in Figure 3.
Fig. 7 " uses the random sampling consistency algorithm that the marginal point of finding out is calculated, and chooses straight line as detected straight line according to result of calculation " synoptic diagram of step to FB(flow block) shown in Figure 3 for Fig. 1.
Fig. 8 is the FB(flow block) of medical ultrasonic image line detection method embodiment five of the present invention.
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is further described.
Embodiment 1
Medical ultrasonic image line detection method of the present invention, as shown in Figure 1, may further comprise the steps:
101, current two field picture is sampled;
Wherein, the process of sampling is such: current frame image was vertically sampled according to the pre-set sampling interval.Preestablish what a positive integer N as the SI, every in the horizontal direction then separated N pixel vertically chosen single column of pixels as a sampling sample.Straight-line detection will realize through these samples of sampling.
102, find out the marginal point of sampling in the sample; That is: set a gray threshold T1, with choosing pixel that first gray-scale value surpasses said gray threshold T1 after the sampling sample difference from top to bottom, if all surpass said gray threshold T1 then choose the maximum gradation value point as marginal point as marginal point.
103, use the random sampling consistency algorithm that the marginal point of finding out is calculated, and choose straight line as detected straight line according to result of calculation.Its method is: if n bar sampling sample is arranged, n marginal point so just arranged, they can be combined into n* (n-1)/2 alternative straight in twos.To this n* (n-1)/2 alternative straight, we calculate the consistent of them and count: if certain marginal point arrives the distance of certain bar straight line less than predefined distance threshold T2, just think that this marginal point is consistent with this alternative straight; That is to say that we are directed against every alternative straight, count on the quantity of the distance of this alternative straight less than the marginal point of said distance threshold T2, this quantity is the consistent of this alternative straight and counts.Through to non-consistent eliminating of putting, can eliminate the influence of speckle noise well to final detection result.The corresponding consistent maximal value d that counts of search n* (n-1)/2 alternative straight.If have only consistent the counting of an alternative straight to be d, then this straight line is detected straight line; If it all is d that consistent the counting of many alternative straight arranged, then to every alternative straight wherein all calculate its d the consistent distance of putting this straight line with, and selected distance is detected straight line with that minimum alternative straight.
In the present embodiment,, can reduce the Flame Image Process amount widely through the current images frame is sampled.Can realize real-time detection to every two field picture in the video.
Embodiment 2
Medical ultrasonic image line detection method of the present invention, as shown in Figure 2, may further comprise the steps:
201, set area-of-interest;
That is: before beginning detects in real time; (circle or ellipse belong to a kind of special case of convex polygon through choosing polygonal summit formation convex polygon in the images displayed on screen; Therefore the convex polygon among the present invention comprises circle or ellipse); Zone in the convex polygon is an area-of-interest, and follow-up straight-line detection step will only be carried out the image in the area-of-interest.(like Fig. 4)
202, the area-of-interest in the current two field picture is sampled;
The process of sampling is such: current frame image was vertically sampled according to the pre-set sampling interval.Preestablish what a positive integer N as the SI, every in the horizontal direction then single column of pixels of being in the area-of-interest vertically chosen at a distance from N pixel is as the sample of sampling.Straight-line detection will realize through these samples of sampling.(like Fig. 5)
203, find out the marginal point of sampling in the sample; That is: set a gray threshold T1, with choosing pixel that first gray-scale value surpasses said gray threshold T1 after the sampling sample difference from top to bottom, if all surpass said gray threshold T1 then choose the maximum gradation value point as marginal point as marginal point.(like Fig. 6)
204, use the random sampling consistency algorithm that the marginal point of finding out is calculated, and choose straight line as detected straight line according to result of calculation.Its method is: if n bar sampling sample is arranged, n marginal point so just arranged, they can be combined into n* (n-1)/2 alternative straight in twos.To this n* (n-1)/2 alternative straight, we calculate the consistent of them and count: if certain marginal point arrives the distance of certain bar straight line less than predefined distance threshold T2, just think that this marginal point is consistent with this alternative straight; That is to say that we are directed against every alternative straight, count on the quantity of the distance of this alternative straight less than the marginal point of said distance threshold T2, this quantity is the consistent of this alternative straight and counts.Through to non-consistent eliminating of putting, can eliminate the influence of speckle noise well to final detection result.The corresponding consistent maximal value d that counts of search n* (n-1)/2 alternative straight.If have only consistent the counting of an alternative straight to be d, then this straight line is detected straight line; If it all is d that consistent the counting of many alternative straight arranged, then to every alternative straight wherein all calculate its d the consistent distance of putting this straight line with, and selected distance is detected straight line with that minimum alternative straight.(like Fig. 7)
In the present embodiment, through only area-of-interest is carried out straight-line detection reduces calculated amount, and irrelevant information is accelerated the real-time detection speed to every two field picture in the video greatly to straight-line detection result's influence in the rejection image of trying one's best.
Embodiment 3
Medical ultrasonic image line detection method of the present invention, as shown in Figure 3, may further comprise the steps:
301, set area-of-interest;
That is: before beginning monitoring in real time, confirm a convex polygon through the summit of in the image of screen display, choosing convex polygon, the zone in the convex polygon is an area-of-interest, and follow-up straight-line detection step will only be carried out the image in the area-of-interest.(like Fig. 4).
302, the area-of-interest in the current two field picture is sampled;
The process of sampling is such: current frame image was vertically sampled according to the pre-set sampling interval.Preestablish what a positive integer N as the SI, every in the horizontal direction then single column of pixels of being in the area-of-interest vertically chosen at a distance from N pixel is as the sample of sampling.Straight-line detection will realize through these samples of sampling.(like Fig. 5)
303, use low-pass filter to carry out filtering to all sampling samples that collect;
This step can be suppressed the influence of conventional noise to testing result.
304, find out the marginal point of sampling in the sample.Filtered sampling sample is carried out difference; Set a gray threshold T1, differentiated sampling sample is chosen pixel that first gray-scale value surpasses said gray threshold T1 from top to bottom as marginal point, if all surpass said gray threshold T1 then choose the maximum gradation value point as marginal point.(like Fig. 6)
305, use the random sampling consistency algorithm that the marginal point of finding out is calculated, and choose straight line as detected straight line according to result of calculation.Its method is: if n bar sampling sample is arranged, n marginal point so just arranged, they can be combined into n* (n-1)/2 alternative straight in twos.To this n* (n-1)/2 alternative straight, we calculate the consistent of them and count: if certain marginal point arrives the distance of certain bar straight line less than predefined distance threshold T2, just think that this marginal point is consistent with this alternative straight; That is to say that we are directed against every alternative straight, count on the quantity of the distance of this alternative straight less than the marginal point of said distance threshold T2, this quantity is the consistent of this alternative straight and counts.Through to non-consistent eliminating of putting, can eliminate the influence of speckle noise well to final detection result.The corresponding consistent maximal value d that counts of search n* (n-1)/2 alternative straight.If have only consistent the counting of an alternative straight to be d, then this straight line is detected straight line; If it all is d that consistent the counting of many alternative straight arranged, then to every alternative straight wherein all calculate its d the consistent distance of putting this straight line with, and selected distance is detected straight line with that minimum alternative straight.(like Fig. 7)
In the present embodiment; Through using low-pass filter to carry out filtering to all sampling samples that collect; Thereby reach the purpose of the conventional noise of inhibition to the influence of testing result; Strengthened subsequent detection result's accuracy widely, reduced the subsequent image processing amount, can further accelerate real-time detection speed every two field picture in the video.
Embodiment 4
401, set area-of-interest;
That is: before beginning monitoring in real time, confirm a convex polygon through the summit of in the image of screen display, choosing convex polygon, the zone in the convex polygon is an area-of-interest, and follow-up straight-line detection step will only be carried out the image in the area-of-interest.
402, the area-of-interest in the current two field picture is sampled;
The process of sampling is such: for current frame image, picked at random is in a plurality of single column of pixels in the area-of-interest in the horizontal direction, and each single column of pixels is as a sampling sample.
403, use low-pass filter to carry out filtering to all sampling samples that collect;
This step can be suppressed the influence of the noise of routine to testing result.
404, find out the marginal point of sampling in the sample.Filtered sampling sample is carried out difference; Set a gray threshold T1, differentiated sampling sample is chosen pixel that first gray-scale value surpasses said gray threshold T1 from top to bottom as marginal point, if all surpass said gray threshold T1 then choose the maximum gradation value point as marginal point.(like Fig. 6)
405, use the random sampling consistency algorithm that the marginal point of finding out is calculated, and choose straight line as detected straight line according to result of calculation.Its method is: if n bar sampling sample is arranged, n marginal point so just arranged, they can be combined into n* (n-1)/2 alternative straight in twos.To this n* (n-1)/2 alternative straight, we calculate the consistent of them and count: if certain marginal point arrives the distance of certain bar straight line less than predefined distance threshold T2, just think that this marginal point is consistent with this alternative straight; That is to say that we are directed against every alternative straight, count on the quantity of the distance of this alternative straight less than the marginal point of said distance threshold T2, this quantity is the consistent of this alternative straight and counts.Through to non-consistent eliminating of putting, can eliminate the influence of speckle noise well to final detection result.The corresponding consistent maximal value d that counts of search n* (n-1)/2 alternative straight.If have only consistent the counting of an alternative straight to be d, then this straight line is detected straight line; If it all is d that consistent the counting of many alternative straight arranged, then to every alternative straight wherein all calculate its d the consistent distance of putting this straight line with, and selected distance is detected straight line with that minimum alternative straight.(like Fig. 7)
As the distortion of embodiment 3, the step 402 in the present embodiment adopts on-fixed to come at interval area-of-interest is sampled, and also can reach embodiment 3 similar effects.
Embodiment 5
Can find out that from each above-mentioned embodiment each above-mentioned embodiment can realize the detection to single-frame images.In order to realize that video image is detected in real time, only needing increases the step that the next frame image is detected and gets final product after detection of straight lines is accomplished, as shown in Figure 8.
In sum, method of the present invention has overcome prior art needs manually-operated, the very big and shortcoming that can not detect in real time of calculated amount; Strengthened noise immunity, reduced, can eliminate the influence of speckle noise well, can carry out automatic, real-time detection the video ultrasonoscopy to testing result to noise sensitivity.
Obviously, those skilled in the art can carry out various changes and not break away from spirit of the present invention method of the present invention.If therefore these changes belong in claims of the present invention and the equivalent technologies scope thereof, then the present invention also is intended to contain these changes.
Claims (7)
1. a medical ultrasonic image line detection method is characterized in that, may further comprise the steps:
(1) chooses area-of-interest in the image;
(2) area-of-interest in the current two field picture is sampled;
(3) find out the marginal point of each sampling in sample;
(4) use the random sampling consistency algorithm that the marginal point of finding out is calculated, and choose straight line as detected straight line according to result of calculation;
Said step (2) is specially: choose a plurality of single column of pixels that are in the said area-of-interest in the horizontal direction, each selected single column of pixels is a sampling sample; Perhaps, preestablish a positive integer N as the SI, every in the horizontal direction then single column of pixels of being in the said area-of-interest vertically chosen at a distance from N pixel is as the sample of sampling.
2. medical ultrasonic image line detection method as claimed in claim 1 is characterized in that: said step (1) is specially: through clicking the formation convex polygon, the zone in this convex polygon is said area-of-interest in image.
3. medical ultrasonic image line detection method as claimed in claim 1 is characterized in that: said step (3) is specially: each sampling sample is carried out difference, find out the marginal point in said each sampling sample.
4. medical ultrasonic image line detection method as claimed in claim 3; It is characterized in that: said step (3) is specially: set a gray threshold T1, choose pixel that first gray-scale value surpasses said gray threshold T1 sample from top to bottom as marginal point from differentiated said each sampling; If all surpass said gray threshold T1 then choose the maximum gradation value point as marginal point.
5. like the described medical ultrasonic image line detection method of the arbitrary claim of claim 1 to claim 4, it is characterized in that: between step (2) and step (3), also comprise step B: all the sampling samples to collecting use low-pass filter to carry out filtering.
6. like the described medical ultrasonic image line detection method of the arbitrary claim of claim 1 to claim 4, it is characterized in that: described step (4) is specially:
(41) said each marginal point of finding out is combined into alternative straight in twos;
(42) calculating the consistent of every said alternative straight counts;
(43) the consistent maximal value d that counts of the said alternative straight of search;
(44) if having only consistent the counting of an alternative straight to be d, then this alternative straight is detected straight line; If it all is d that consistent the counting of many alternative straight arranged, then to every alternative straight wherein all calculate its d the consistent distance of putting this alternative straight with, and selected distance is detected straight line with that minimum alternative straight.
7. medical ultrasonic image line detection method as claimed in claim 6 is characterized in that: described step (42) is specially:
(421) calculate the distance of each marginal point to every alternative straight;
(422) result and the predefined distance threshold T2 with step (421) compares;
(423) to every alternative straight, count on the quantity of the distance of this alternative straight less than the marginal point of said distance threshold T2, this quantity is the consistent of this alternative straight and counts.
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| CN103610473B (en) * | 2013-11-21 | 2015-04-22 | 海信集团有限公司 | Ultrasonic image adaptive positioning measuring method and device |
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