CN111863227A - Ultrasonic focusing control method and device, electronic equipment and storage medium - Google Patents
Ultrasonic focusing control method and device, electronic equipment and storage medium Download PDFInfo
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Abstract
The application provides an ultrasonic focusing control method and device, and relates to the technical field of medical treatment. The method comprises the following steps: acquiring continuous multi-frame images of a target point, wherein each frame of image comprises an image of the target point; acquiring position change information of the image of the target point in the continuous multi-frame image, wherein the position change information comprises a first movement direction and a first movement distance; and adjusting the ultrasonic focusing position according to the position change information, so that the adjusted ultrasonic focusing position is superposed with the target point. The technical scheme provided by the application can correct errors caused by target spot movement in real time, and ensures that the target spots to be treated (such as brain nuclei, peripheral organs, peripheral nerves and the like) are subjected to real-time and accurate self-adaptive ultrasonic stimulation by dynamically adjusting the position of the focal spot.
Description
Technical Field
The application belongs to the technical field of medical treatment, and particularly relates to an ultrasonic focusing control method and device.
Background
Ultrasound, a mechanical wave, is generated by the vibration of an object (acoustic source) and caused to propagate through a medium that compresses and expands. The interaction between medical ultrasonic waves and human tissues mainly applies the basic physical characteristics of the interaction between sound waves and substances, and has three basic acoustic effects such as fluctuation effect, mechanical effect and thermal effect (refer to fig. 1), and the effects have important application or great potential in biomedicine. In addition to the general properties of waves, ultrasound has an important feature that it has little attenuation in human tissues such as water and muscle, and can reach deeper human tissues. Medical ultrasound technology has evolved over the last seventy years, and ultrasound has evolved to have two basic functions of ultrasound imaging diagnosis and high-intensity focused ultrasound thermal ablation therapy based on wave effect and thermal effect. The thermal effect of High Intensity Focused Ultrasound (HIFU) can be used for thermal ablation of tumors and brain nerve nucleus destruction therapy, and related medical devices are widely used in medical clinics. Objects and biological tissues in an ultrasonic sound field receive Acoustic wave (mechanical wave) momentum to generate applied Force, which is defined as Acoustic Radiation Force (ARF) in acoustics. The ultrasonic radiation force is mainly determined by the sound field pressure gradient around the stressed object. Recent research and understanding on the ultrasound mechanical effect, particularly the ultrasound radiation force, shows that the ultrasound mechanical effect also has remarkable functions, unique advantages and great application potential in the aspects of nerve regulation and control, neuroscience and brain science.
At present, physical nerve regulation and control technology is an important means applied to neuroscience research and intervention of neurological diseases. The nerve stimulation and regulation technology such as deep brain electrical stimulation, transcranial magnetic stimulation, light gene regulation and the like is generated by combining the basic principles of electricity, magnetism, light and the like with neuroscience. The medical ultrasound is used as a noninvasive diagnosis and treatment technology, can form focus in a human body, acts on tissues in a specific area, and has the functions of regulating and controlling deep brain nuclei, peripheral organs and peripheral nerves.
However, due to the influence of respiration adjustment or heart beating, the position of human tissue can also change, so that the focal spot cannot coincide with the target point in real time, and the effect of ultrasonic stimulation is influenced.
Disclosure of Invention
In view of the above problems, embodiments of the present application provide an ultrasonic focusing control method and apparatus, which accurately position a target point by means of image-guided ultrasonic stimulation, correct a change in the position of the target point caused by respiration, motion, and the like, adjust an ultrasonic focal spot in real time, and implement accurate ultrasonic stimulation and therapy, so as to solve the problem that an ultrasonic stimulation effect is affected due to deviation of the ultrasonic focal spot and the target point in the related art.
In order to solve the technical problem, the technical scheme adopted by the application is as follows:
in a first aspect, an embodiment of the present application provides an ultrasonic focus control method, including:
acquiring continuous multi-frame images of a target point, wherein each frame of image comprises an image of the target point;
acquiring position change information of the image of the target point in the continuous multi-frame image, wherein the position change information comprises a first movement direction and a first movement distance;
and adjusting the ultrasonic focusing position according to the position change information, so that the adjusted ultrasonic focusing position is superposed with the target point.
In a possible implementation manner of the first aspect, the adjusting an ultrasound focus position according to the position change information so that the adjusted ultrasound focus position coincides with the target point includes:
and adjusting the position of the ultrasonic focal spot by controlling an electric signal applied to the array element of the ultrasonic transducer according to the position change information, so that the ultrasonic focal spot after the position adjustment coincides with the target point.
In a possible implementation manner of the first aspect, the method further includes:
acquiring shape change information of the image of the target point in the continuous multi-frame image;
Determining the ultrasonic focusing parameters according to the shape change information;
wherein the ultrasound focusing parameters are used for generating an ultrasound focal spot, the ultrasound focusing parameters comprising size information and/or depth information of the ultrasound focal spot to be generated.
In a possible implementation manner of the first aspect, the continuous multi-frame image of the target point includes N frames of images, where N is an integer greater than 1;
the acquiring of the position change information of the image of the target point in the continuous multi-frame image includes:
subtracting the 1 st frame image from the ith frame image to obtain N-1 differential images, wherein i is 2-N;
and acquiring the position change information of the image of the target point in the continuous multi-frame images according to the N-1 differential images.
In a possible implementation manner of the first aspect, the adjusting an ultrasound focus position according to the position change information includes:
and under the condition that the movement distance of the target point is greater than or equal to a preset threshold value, adjusting the ultrasonic focusing position according to the position change information.
In a possible implementation manner of the first aspect, the consecutive multi-frame images are images obtained by any one of the following imaging manners: ultrasonic imaging, magnetic resonance imaging, infrared imaging, optical imaging, electrical impedance imaging.
In a second aspect, an embodiment of the present application provides an ultrasonic focus control apparatus, including: the system comprises an image acquisition and analysis module and an electronic phased array module;
the image acquisition and analysis module is used for acquiring continuous multi-frame images of a target point, and each frame of image comprises an image of the target point; acquiring position change information of the image of the target point in the continuous multi-frame image, wherein the position change information comprises a first movement direction and a first movement distance;
and the electronic phased array module is used for adjusting the ultrasonic focusing position according to the position change information, so that the adjusted ultrasonic focusing position is coincided with the target point.
In a possible implementation manner of the second aspect, the electronic phased array module is specifically configured to adjust a position of an ultrasonic focal spot by controlling an electrical signal applied to an ultrasonic transducer array element according to the position change information, so that the position-adjusted ultrasonic focal spot coincides with the target point.
In a possible implementation manner of the second aspect, the electronic phased array module is further configured to obtain shape change information of the image of the target point in the continuous multi-frame images; determining the ultrasonic focusing parameters according to the shape change information;
Wherein the ultrasound focusing parameters are used for generating an ultrasound focal spot, the ultrasound focusing parameters comprising size information and/or depth information of the ultrasound focal spot to be generated.
The ultrasonic focusing control method can acquire the position and shape change of the target point in real time, and when the target point deviates, new target point position information can be transmitted to the electronic phased array system, and the ultrasonic focal spot is adjusted in real time, so that the focal spot is accurately focused on the target point at the new position.
In a possible implementation manner of the second aspect, the continuous multi-frame image of the target point includes N frames of images, where N is an integer greater than 1;
the image acquisition and analysis module is also used for subtracting the 1 st frame image from the ith frame image to obtain N-1 differential images, wherein i is 2 to N; and acquiring the position change information of the image of the target point in the continuous multi-frame images according to the N-1 differential images.
In a possible implementation manner of the second aspect, the electronic phased array module is specifically configured to, when the moving distance of the target point is greater than or equal to a preset threshold, adjust an ultrasound focusing position according to the position change information.
In a possible implementation manner of the second aspect, the continuous multiframe images include images obtained by any one of the following imaging manners: ultrasonic imaging, magnetic resonance imaging, infrared imaging, optical imaging, electrical impedance imaging.
In a third aspect, the present application provides an electronic device, which includes a processor, a memory, and a computer program stored on the memory and executable on the processor, and when the computer program is executed by the processor, the steps of the ultrasound focus control method in the first aspect are implemented.
In a fourth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the steps of the ultrasound focus control method in the first aspect.
In a fifth aspect, the present application provides a computer program product, which when run on a terminal device, causes the terminal device to execute the ultrasound focus control method according to any one of the first aspect.
It is understood that the beneficial effects of the second aspect to the fifth aspect can be referred to the related description of the first aspect, and are not described herein again.
Compared with the prior art, the embodiment of the application has the advantages that:
the technical scheme provided by the embodiment of the application can be applied to the scene of positioning and tracking the target point (or the target area) under the conditions of position change and/or shape change of the target point and the like in the ultrasonic stimulation process. The position change information of the target spot can be obtained in real time, and the ultrasonic focusing position is adjusted in real time according to the position change information of the target spot, so that the adjusted ultrasonic focusing position is overlapped with the target spot. Further, the electronics can use the ultrasound waves towards a focal position to generate an ultrasound focal spot for ultrasound stimulation. Therefore, the embodiment of the application can correct errors caused by target spot movement in real time and realize dynamic adjustment, so that the target spot to be stimulated is ensured to be subjected to real-time and accurate ultrasonic stimulation, and self-adaptive ultrasonic stimulation is realized.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Figure 1 is a schematic illustration of three basic physical effects of ultrasound and possible biomedical applications.
FIG. 2 is a schematic flow chart of an ultrasonic focus control method according to an embodiment of the present application;
FIG. 3 is a schematic flow chart diagram illustrating an ultrasonic focus control method according to another embodiment of the present application;
FIG. 4 is a schematic flow chart diagram illustrating an ultrasonic focus control method according to another embodiment of the present application;
FIG. 5 is a schematic flow chart diagram illustrating an ultrasonic focus control method according to yet another embodiment of the present application;
FIG. 6 is a schematic structural diagram of an ultrasonic focus control apparatus provided in an embodiment of the present application;
fig. 7 is a schematic structural diagram of an electronic device provided in an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to" determining "or" in response to detecting ". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.
An execution main body of the ultrasonic focusing control method provided in the embodiment of the present application may be an electronic device, or may also be a functional module and/or a functional entity capable of implementing the ultrasonic focusing control method in the electronic device, which may be specifically determined according to actual use requirements, and the embodiment of the present application is not limited. The ultrasound focus control method provided by the embodiments of the present application is exemplarily described below with reference to the drawings by taking an electronic device as an example.
Fig. 2 shows a schematic flowchart of an ultrasonic focus control method provided in an embodiment of the present application. As shown in fig. 2, the method may include S101-S103 described below.
S101, collecting continuous multi-frame images of the target point, wherein each frame of image comprises an image of the target point.
In the embodiment of the application, the electronic device can acquire continuous multi-frame images in real time to detect the position change or the shape change of the target point in real time, so that the ultrasonic focusing position is adjusted in real time along with the position change or the shape change of the target point, and the adjusted ultrasonic focusing position is coincided with the target point.
It should be noted that the target point may correspond to a location on an organ of a living body to be ultrasonically stimulated. For example, the target point may be a point (target point) or a region having a certain size (target region). The method can be determined according to actual use requirements, and the embodiment of the application is not limited.
Optionally, in this embodiment of the application, the continuous multi-frame image may be an image obtained by any one of the following imaging methods: ultrasonic imaging, magnetic resonance imaging, infrared imaging, optical imaging, electrical impedance imaging. For example, the consecutive multi-frame images may be ultrasound images.
It should be noted that the target image is an exemplary list, and it is understood that in a specific implementation, the target image may also be an image obtained by any other possible imaging manner, and may be determined according to an actual use requirement, and the embodiment of the present application is not limited. For convenience of explanation and understanding, the target image is exemplified as an ultrasonic image in the embodiments of the present application.
Illustratively, an ultrasound image generating device may be employed to generate the ultrasound image. For example, an ultrasonic image generating apparatus includes an ultrasonic probe and a display. The ultrasonic probe can transmit ultrasonic waves to a subject and receive reflected sounds, and then output an ultrasonic detection signal to a display. The display may display an ultrasonic image according to the ultrasonic detection signal after receiving the ultrasonic detection signal.
S102, obtaining position change information of the image of the target point in the continuous multi-frame image.
Wherein the position change information includes a first moving direction and a first moving distance.
S103, adjusting the ultrasonic focusing position according to the position change information, so that the adjusted ultrasonic focusing position is overlapped with the target point.
It should be noted that the coincidence between the adjusted ultrasound focusing position and the target point may be partial coincidence or complete coincidence, and may be determined according to actual use requirements, which is not limited in the embodiment of the present application.
For example, for a case of partial coincidence, the electronic device may obtain a coincidence degree between the adjusted ultrasonic focusing position and the target point, and in a case that the electronic device determines that the coincidence degree between the adjusted ultrasonic focusing position and the target point is greater than a threshold (e.g., 80%), the electronic device may determine that the adjusted ultrasonic focusing position coincides with the target point.
In the embodiment of the application, the electronic device may control the ultrasonic focal spot to move the first movement distance in the direction opposite to the first movement direction according to the position change information, so that the adjusted ultrasonic focusing position coincides with the target point.
Optionally, in this embodiment of the application, with reference to fig. 2, as shown in fig. 3, the above S103 may specifically include the following S103A.
S103A, the position of the ultrasonic focal spot can be adjusted by controlling the electric signal applied to the ultrasonic transducer array element according to the position change information, so that the ultrasonic focal spot after the position adjustment coincides with the target point.
Wherein the ultrasound focal spot may also be referred to as a sound field focal spot.
In the embodiment of the application, the electronic phased array control circuit can be used for controlling the electric signals applied to the array elements of the ultrasonic transducer and adjusting the position of the ultrasonic focal spot. The electronic phased array control circuit can be a circuit which can perform phase control on each array element of the ultrasonic array transducer by adjusting delay to obtain controllable transmitting and receiving focused acoustic beams.
In the embodiment of the application, the electronic device can adjust the ultrasonic focal spot to move the first movement distance along the direction opposite to the first movement direction by controlling the electric signal applied to the ultrasonic transducer array element according to the position change information, so that the ultrasonic focal spot after the position adjustment coincides with the target point.
By way of example and not limitation, the above-described electronic device (which may be referred to as an ultrasound array transducer) may include an electronic phased array control circuit and an ultrasound transducer (i.e., an ultrasound area array generator). The electronic equipment can adopt an ultrasonic phased array technology, and an ultrasonic area array generator is excited to work by an electronic phased array control circuit to generate ultrasonic sound fields with different focal spots. The ultrasonic phased array technology performs phase control on each array element of the ultrasonic array transducer by adjusting delay to obtain controllable transmitting and receiving focused acoustic beams.
Specifically, according to the embodiment of the application, the error caused by target point motion can be corrected in real time in the ultrasonic stimulation process, the ultrasonic sound field can reach the target point (human organ) through dynamic adjustment, and the target point is subjected to ultrasonic stimulation and treatment. Therefore, the target point to be stimulated can be ensured to be subjected to real-time and accurate ultrasonic stimulation, and self-adaptive ultrasonic stimulation is realized.
In the embodiment of the application, the electronic device adjusts the ultrasonic focusing position according to the position change information of the target point, so that the adjusted ultrasonic focusing position is overlapped with the target point. Further, the electronics can use the ultrasound waves toward a focal position to generate an ultrasound focal spot for ultrasound stimulation and therapy.
In one possible implementation manner, as shown in fig. 4 in conjunction with fig. 2, the ultrasound focus control method provided by the present application further includes S104 and S105 described below.
And S104, acquiring shape change information of the image of the target point in the continuous multi-frame image.
And S105, determining ultrasonic focusing parameters according to the shape change information, wherein the ultrasonic focusing parameters are used for generating an ultrasonic focal spot, and the ultrasonic focusing parameters comprise size information and/or depth information of the ultrasonic focal spot to be generated.
In the embodiment of the present application, the size information of the ultrasound focal spot is used to indicate the size or the size of the ultrasound focal spot. For example, if the ultrasound focal spot is circular, the size information thereof may be the diameter of the ultrasound focal spot.
In an embodiment of the present application, the depth information of the ultrasound focal spot is used to indicate a distance from the ultrasound transducer to the ultrasound focal spot.
In this embodiment of the application, the shape change information of the target point image may be used to indicate that the target point image is enlarged or reduced, may also be used to indicate that an edge of the target point image changes, or may be used to indicate other possible change information of the target point image, and may be specifically determined according to an actual use requirement, which is not limited in this embodiment of the application.
In the embodiment of the application, the electronic device may determine the ultrasonic focusing parameters according to the shape change information of the target spot image, and further may adjust the size and/or depth of the ultrasonic focal spot according to the determined focusing parameters.
For example, if the shape change information of the target point image indicates that the target point image is larger, the electronic device may adjust the ultrasound focusing parameters, such as resizing the ultrasound focal spot and/or resizing the depth of the ultrasound focal spot.
As another example, if the shape change information of the target point image indicates that the target point image is getting smaller, the electronic device may adjust the ultrasound focusing parameters, such as to resize the ultrasound focal spot and/or to resize the depth of the ultrasound focal spot.
The ultrasonic focusing control method guided by the image can acquire the position and shape change of the target point in real time, and when the target point deviates, the position information of the new target point can be transmitted to the electronic phased array system, and the ultrasonic focal spot is adjusted in real time, so that the focal spot is accurately focused on the target point at the new position.
It should be noted that the execution order of S103 and S104-S105 may not be limited in the embodiments of the present invention. That is, in the embodiment of the present invention, S103 may be executed first, and then S104 to S105 may be executed; or executing S104-S105 first and then executing S103; s103 and S104-S105 may also be performed simultaneously. It is understood that the above fig. 4 is illustrated by performing S103 and then performing S104-S105.
In the embodiment of the application, the electronic equipment adjusts the ultrasonic focusing position according to the position change information of the target point image, so that the adjusted ultrasonic focusing position is overlapped with the target point. Furthermore, the electronic device may determine ultrasound focusing parameters (size information, depth information, etc. of the ultrasound focal spot to be generated) according to the shape change information of the target point image. Further, the electronics can use the ultrasound waves to point to a focal position, generate an ultrasound focal spot with focal parameters corresponding to size information and/or depth information, and perform ultrasound stimulation and therapy.
Illustratively, after the focusing parameters are acquired according to the shape change information of the target point image, the electronic device may control the ultrasonic focal spot of the ultrasonic stimulation device to reach the position of the target point after the target point moves, so as to realize the coincidence of the ultrasonic focal spot and the target point.
In the embodiment of the application, the position change information of the target spot image can be acquired in real time, the ultrasonic focusing parameters are determined according to the shape change information of the target spot image, and the ultrasonic focal spots are generated according to the ultrasonic focusing parameters, so that the ultrasonic focal spots are aligned with the target spot more accurately, an image-guided ultrasonic stimulation mode is realized, and the target spot can be accurately positioned and subjected to ultrasonic stimulation and treatment.
In the embodiment of the application, the electronic device can adjust the ultrasonic focusing position in real time according to the change of the target point, and adjust the size information and the depth information of the ultrasonic focal spot in real time, so that the ultrasonic focal spot and the target point are coincided and aligned more accurately, and a better ultrasonic stimulation effect is realized.
The method provided by the embodiment of the application can be applied to the scene of positioning and tracking the target point under the conditions of position change and/or shape change of the target point (or the target area) to be stimulated in the ultrasonic stimulation process and the like. The position change information of the target spot can be obtained in real time, and the ultrasonic focusing position is adjusted in real time according to the position change information of the target spot, so that the adjusted ultrasonic focusing position is overlapped with the target spot. Further, the electronics can use the ultrasound waves toward a focal position to generate an ultrasound focal spot for ultrasound stimulation and therapy. Therefore, the embodiment of the application can correct errors caused by target spot movement in real time and realize dynamic adjustment, so that the target spot to be stimulated is ensured to be subjected to real-time and accurate ultrasonic stimulation, and self-adaptive ultrasonic stimulation and treatment are realized.
Ultrasonic waves as mechanical waves can reach human tissues in a non-invasive manner, and can be applied to treatment of clinical diseases according to the biological characteristics of the mechanical effect and the thermal effect of the ultrasonic waves. There are individual differences in the size and depth of human organs, and the positions of human organs also change during the respiratory adjustment process. In view of this, the present application provides an ultrasonic focusing control method in this scenario, and specifically, in the ultrasonic stimulation process, not only the ultrasonic stimulation positioning needs to be performed in an image-guided manner, but also the focusing position, the focal spot size, the focal spot depth, and the like of the ultrasonic wave need to be adjusted in real time according to the change of the human organ. By the technical scheme provided by the embodiment of the application, the error caused by target point movement can be corrected in real time in the ultrasonic stimulation process, real-time and accurate ultrasonic stimulation of the target point to be stimulated is ensured through dynamic adjustment, and self-adaptive ultrasonic stimulation and treatment are realized.
Optionally, in this embodiment of the present application, the ultrasonic focal spot to be generated may be a focal spot excited by an array element of an electronic phased array-based controlled ultrasonic array transducer. The electronic equipment can adjust the position, the size and the depth of the ultrasonic focal spot in real time by controlling the electric signals applied to the ultrasonic transducer array element according to the position change information and the shape change information of the target spot image.
In the embodiment of the application, the mark can be added at the image of the target point, and the position change of the target point can be determined according to the position change of the added mark, so that the position change and the motion track of the target point can be detected in real time. Therefore, the moving target point in the current image can be identified quickly, and the real-time requirement of positioning is met.
In a possible implementation manner, assuming that the continuous multi-frame image of the target point includes N frames of images, where N is an integer greater than 1, the acquiring of the position change information of the image of the target point in the continuous multi-frame image (i.e., the step 102) may include the following steps 102A and 102B.
And 102A, subtracting the 1 st frame image from the ith frame image to obtain N-1 differential images, wherein i is 2 to N.
And step 102B, acquiring the position change information of the image of the target point in the continuous multi-frame images according to the N-1 differential images.
Illustratively, the continuous multi-frame image may include a first frame image, a second frame image, and a third frame image that are frame-continuous. The second frame image is a frame image after the first frame image, and the third frame image is a frame image after the second frame image. The electronic equipment can obtain the position information before the movement of the target point by subtracting the first frame image from the second frame image; and the third frame image is subtracted from the first frame image to obtain the position information of the target point after the movement. Then, the electronic device may obtain the position change information of the target point according to the difference between the post-movement position information and the pre-movement position information.
And subtracting the first frame from the second frame to obtain the initial position of the target point, and subtracting the first frame from the third frame to obtain the position of the target point after movement. The moving direction and the position of the target point are determined by judging the difference between the position of the target point after moving and the initial position, so that the real-time performance and the accuracy of target point detection are ensured.
It should be noted that the moving object and the moving track in the image can be determined by subtracting the gray values of the corresponding pixel points of the two previous and next frames of images.
In one possible implementation, referring to fig. 2 and fig. 5, the adjusting the ultrasound focusing position according to the position change information specifically includes S103B described below.
S103B, under the condition that the movement distance of the target point is larger than or equal to the preset threshold value, the ultrasonic focusing position is adjusted according to the position change information.
The preset threshold may be an empirical value, and may be specifically determined according to actual use requirements, and the embodiment of the present application is not limited.
It can be understood that, if the movement distance of the target point is greater than or equal to the preset threshold, it indicates that the target point has a large offset relative to the focusing position, and the focusing parameters need to be adjusted, that is, the size information and/or the depth information of the ultrasonic focal spot to be generated are adjusted, and the ultrasonic focal spot is generated according to the adjusted focusing parameters, so that the ultrasonic focal spot coincides with the target point, thereby ensuring that the target point to be stimulated is subjected to real-time and accurate ultrasonic stimulation and treatment.
It should be noted that, in the case that the moving distance of the target point is smaller than the preset threshold, the electronic device may continue to perform step 101.
In the embodiment of the application, whether the target point deviates relative to the focusing position is judged, and then the ultrasonic focusing position is further adjusted according to the position change information of the target point under the condition that whether the target point deviates relative to the focusing position is determined, so that the accuracy of real-time adjustment can be ensured.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Fig. 6 shows a block diagram of the ultrasonic focus control device provided in the embodiment of the present application, corresponding to the ultrasonic focus control method described in the above embodiment, and only the parts related to the embodiment of the present application are shown for convenience of description.
Referring to fig. 6, the ultrasonic focus control apparatus 200 includes an image acquisition and analysis module 201 and an electronic phased array module 202;
the image acquisition and analysis module 201 is used for acquiring continuous multi-frame images of a target point, wherein each frame of image comprises an image of the target point; acquiring position change information of the image of the target point in continuous multi-frame images, wherein the position change information comprises a first movement direction and a first movement distance;
And the electronic phased array module 202 is configured to adjust the ultrasonic focusing position according to the position change information acquired by the image acquisition and analysis module 201, so that the adjusted ultrasonic focusing position coincides with the target point.
In a possible implementation manner of the second aspect, the electronic phased array module is specifically configured to adjust the position of the ultrasonic focal spot by controlling an electrical signal applied to the ultrasonic transducer array element according to the position change information, so that the position-adjusted ultrasonic focal spot coincides with the target point.
Optionally, in this embodiment of the application, the continuous multi-frame image may be an image obtained by any one of the following imaging methods: ultrasonic imaging, magnetic resonance imaging, infrared imaging, optical imaging, electrical impedance imaging. For example, the consecutive multi-frame images may be ultrasound images.
In a possible implementation manner of the second aspect, the electronic phased array module 202 is further configured to obtain shape change information of the image of the target point in the continuous multi-frame images; and determining ultrasonic focusing parameters according to the shape change information. Wherein the above-mentioned focusing parameters are used for generating an ultrasound focal spot, the ultrasound focusing parameters comprising size information and/or depth information of the ultrasound focal spot to be generated.
The ultrasonic focusing control device guided by the image can acquire the position and shape change of the target point in real time, and when the target point deviates, the position information of the new target point can be transmitted to the electronic phased array system, and the ultrasonic focal spot is adjusted in real time, so that the focal spot is accurately focused on the target point at the new position.
In a possible implementation manner of the second aspect, the continuous multi-frame image of the target point includes N frames of images, where N is an integer greater than 1;
the image acquisition and analysis module 201 is further configured to subtract the 1 st frame image from the ith frame image to obtain N-1 difference images, where i is 2 to N; and obtaining the position change information of the image of the target point in the continuous multi-frame images according to the N-1 differential images.
In a possible implementation manner of the second aspect, the electronic phased array module 202 is specifically configured to adjust the ultrasound focusing position according to the position change information when the moving distance of the target point is greater than or equal to a preset threshold.
In the embodiment of the application, the electronic phased array module can excite the ultrasonic transducer to work through the electronic phased array, so that ultrasonic sound fields of different focal spots are generated, the excitation mode of the electronic phased array can be regulated and controlled in real time according to an image evaluation result, and the position information, the depth information and the size information of the focal spots are regulated in real time, so that the ultrasonic focal spots and a target point can be coincided all the time. In this way, the ultrasonic field (i.e. the ultrasonic focal spot) is assisted to reach the target point by means of image guidance, and the target point is subjected to ultrasonic stimulation and treatment.
Illustratively, by acquiring a patient image in real time and extracting the change of the patient image, evaluating and analyzing whether the adjustment of the ultrasonic focusing position and the adjustment of the size information or the depth information of the focal spot are needed, and if the plan needs to be changed, redesigning the electronic phased array and adjusting the focusing parameters. The target point can be acquired and analyzed in real time and circularly until the target point and the ultrasonic focal spot can be coincided.
The ultrasonic focusing control device provided by the embodiment of the application can be applied to the scene of positioning and tracking the target point (or the target area) to be stimulated under the conditions of position change, shape change and the like in the ultrasonic stimulation process. The position change information of the target spot can be obtained in real time, and the ultrasonic focusing position is adjusted in real time according to the position change information of the target spot, so that the adjusted ultrasonic focusing position is overlapped with the target spot. Further, the electronics can use the ultrasound waves towards a focal position to generate an ultrasound focal spot for ultrasound stimulation. Therefore, the embodiment of the application can correct errors caused by target spot movement in real time and realize dynamic adjustment, so that the target spot to be stimulated is ensured to be subjected to real-time and accurate ultrasonic stimulation, and self-adaptive ultrasonic stimulation is realized.
It should be noted that, for the information interaction, execution process, and other contents between the above-mentioned devices/units, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and specific reference may be made to the part of the embodiment of the method, which is not described herein again.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules, so as to perform all or part of the functions described above. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
As shown in fig. 7, an embodiment of the present application further provides an electronic device, where the electronic device includes: at least one processor 300, a memory 301, and a computer program 302 stored in the memory 301 and executable on the at least one processor 300, the processor 300 implementing the steps in any of the various method embodiments described above when executing the computer program 302.
The embodiments of the present application also provide a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the steps in the above-mentioned method embodiments.
The embodiments of the present application provide a computer program product, which when running on an electronic device, enables the electronic device to implement the steps in the above method embodiments when executed.
The integrated unit may be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as a separate product. Based on such understanding, all or part of the flow of the method of the embodiments described above can be implemented by a computer program, which can be stored in a computer readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a photographing apparatus/terminal apparatus, a recording medium, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), an electrical carrier signal, a telecommunications signal, and a software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/electronic device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/electronic device are merely illustrative, and for example, the division of the above modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (14)
1. An ultrasonic focus control method, comprising:
acquiring continuous multi-frame images of a target point, wherein each frame of image comprises an image of the target point;
acquiring position change information of the image of the target point in the continuous multi-frame image, wherein the position change information comprises a first movement direction and a first movement distance;
And adjusting the ultrasonic focusing position according to the position change information, so that the adjusted ultrasonic focusing position is superposed with the target point.
2. The method of claim 1, wherein the adjusting the ultrasound focus position according to the position change information so that the adjusted ultrasound focus position coincides with the target point comprises:
and adjusting the position of the ultrasonic focal spot by controlling an electric signal applied to the array element of the ultrasonic transducer according to the position change information, so that the ultrasonic focal spot after the position adjustment coincides with the target point.
3. The method of claim 1 or 2, wherein the method further comprises:
acquiring shape change information of the image of the target point in the continuous multi-frame image;
determining the ultrasonic focusing parameters according to the shape change information;
wherein the ultrasound focusing parameters are used for generating an ultrasound focal spot, the ultrasound focusing parameters comprising size information and/or depth information of the ultrasound focal spot to be generated.
4. The method according to claim 1 or 2, wherein the continuous multiframe images of the target point comprise N frames of images, wherein N is an integer greater than 1;
The acquiring of the position change information of the image of the target point in the continuous multi-frame image includes:
subtracting the 1 st frame image from the ith frame image to obtain N-1 differential images, wherein i is 2-N;
and acquiring the position change information of the image of the target point in the continuous multi-frame images according to the N-1 differential images.
5. The method of claim 1 or 2, wherein said adjusting an ultrasound focus position based on said position change information comprises:
and under the condition that the movement distance of the target point is greater than or equal to a preset threshold value, adjusting the ultrasonic focusing position according to the position change information.
6. The method according to claim 1 or 2, wherein the continuous multiframe images are images obtained by any one of the following imaging modes: ultrasonic imaging, magnetic resonance imaging, optical imaging, electrical impedance imaging.
7. An ultrasonic focus control apparatus, comprising: the system comprises an image acquisition and analysis module and an electronic phased array module;
the image acquisition and analysis module is used for acquiring continuous multi-frame images of a target point, and each frame of image comprises an image of the target point; acquiring position change information of the image of the target point in the continuous multi-frame image, wherein the position change information comprises a first movement direction and a first movement distance;
And the electronic phased array module is used for adjusting the ultrasonic focusing position according to the position change information acquired by the image acquisition and analysis module, so that the adjusted ultrasonic focusing position is superposed with the target point.
8. The apparatus of claim 7, wherein the electronic phased array module is specifically configured to adjust the position of the ultrasound focal spot by controlling an electrical signal applied to an ultrasound transducer array element according to the position change information, so that the ultrasound focal spot coincides with the target point.
9. The apparatus according to claim 7 or 8, wherein the electronic phased array module is further configured to obtain shape change information of the image of the target point in the consecutive multi-frame images; determining the ultrasonic focusing parameters according to the shape change information;
wherein the ultrasound focusing parameters are used for generating an ultrasound focal spot, the ultrasound focusing parameters comprising size information and/or depth information of the ultrasound focal spot to be generated.
10. The apparatus according to claim 7 or 8, wherein the continuous multiframe images of the target point comprise N frames of images, N being an integer greater than 1;
The image acquisition and analysis module is also used for subtracting the 1 st frame image from the ith frame image to obtain N-1 differential images, wherein i is 2 to N; and acquiring the position change information of the image of the target point in the continuous multi-frame images according to the N-1 differential images.
11. The apparatus according to claim 7 or 8, wherein the electronic phased array module is configured to adjust the ultrasound focus position according to the position change information, in particular, when the moving distance of the target point is greater than or equal to a preset threshold.
12. The apparatus according to claim 7 or 8, wherein the continuous multiframe images are images obtained by any one of the following imaging modes: ultrasonic imaging, magnetic resonance imaging, optical imaging, electrical impedance imaging.
13. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method of any of claims 1 to 6 when executing the computer program.
14. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 6.
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