CN113143317A - Ultrasonic imaging method, ultrasonic imaging device, computer equipment and storage medium - Google Patents
Ultrasonic imaging method, ultrasonic imaging device, computer equipment and storage medium Download PDFInfo
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- 238000000034 method Methods 0.000 claims description 37
- 238000012285 ultrasound imaging Methods 0.000 claims description 22
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/42—Details of probe positioning or probe attachment to the patient
- A61B8/4245—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient
- A61B8/4263—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient using sensors not mounted on the probe, e.g. mounted on an external reference frame
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/48—Diagnostic techniques
- A61B8/483—Diagnostic techniques involving the acquisition of a 3D volume of data
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/52—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/52—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/5215—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data
Abstract
The application relates to an ultrasonic imaging method, an ultrasonic imaging device, a computer device and a storage medium. Acquiring a plurality of two-dimensional ultrasonic images generated when an ultrasonic probe continuously scans; acquiring a plurality of three-dimensional positioning information of the ultrasonic probe, wherein each three-dimensional positioning information is position information of the ultrasonic probe when acquiring each two-dimensional ultrasonic image, and the three-dimensional positioning information corresponds to the two-dimensional ultrasonic image; and recombining the two-dimensional ultrasonic images according to the plurality of three-dimensional positioning information of the ultrasonic probe to obtain the three-dimensional ultrasonic image. On the one hand, avoid for ultrasonic equipment configuration expensive volume probe just can obtain three-dimensional ultrasonic image, reduced the imaging cost, on the other hand has solved the unable problem of realizing the three-dimensional scanning of large tracts of land supersound of volume probe, has promoted the imaging range of three-dimensional ultrasonic image, does not have the restriction of volume probe hardware structure moreover, does benefit to the imaging quality who promotes three-dimensional ultrasonic image.
Description
Technical Field
The present application relates to the field of medical device technology, and in particular, to an ultrasound imaging method, apparatus, computer device, and storage medium.
Background
With the development of medical diagnostic technology, more and more medical diagnostic imaging apparatuses can output two-dimensional and three-dimensional medical diagnostic images. Among them, CT devices and nuclear magnetic resonance devices are expensive, and these devices have long scanning time, generally high single scanning cost and large volume, so that scanning needs special shielding places and the X-ray of CT has radioactivity, which may cause radiation hazard to doctors and patients.
In the related art, a volume probe is provided for an ultrasound apparatus, and three-dimensional imaging or four-dimensional imaging is performed using the volume probe. However, the hardware structure of the volume probe limits the application scene of the volume probe and has certain influence on the imaging effect.
Disclosure of Invention
In view of the above, it is necessary to provide an ultrasound imaging method, an ultrasound imaging apparatus, a computer device, and a storage medium capable of improving the imaging effect of a three-dimensional ultrasound image.
A method of ultrasound imaging, the method comprising:
acquiring a plurality of two-dimensional ultrasonic images generated when an ultrasonic probe continuously scans;
acquiring a plurality of three-dimensional positioning information of the ultrasonic probe, wherein each three-dimensional positioning information is position information of the ultrasonic probe when acquiring each two-dimensional ultrasonic image, and the three-dimensional positioning information corresponds to the two-dimensional ultrasonic image;
and recombining the two-dimensional ultrasonic images according to the plurality of three-dimensional positioning information of the ultrasonic probe to obtain the three-dimensional ultrasonic image.
In one embodiment, the ultrasound probe is configured with an optical marker; the acquiring of the plurality of three-dimensional positioning information of the ultrasonic probe comprises:
and carrying out optical positioning on the optical marker to obtain a plurality of three-dimensional positioning information of the ultrasonic probe.
In one embodiment, the three-dimensional positioning information is obtained by optically positioning the optical marker by a positioning module, and the three-dimensional positioning information is position information of the ultrasonic probe in a coordinate system under the view field of the positioning module.
In one embodiment, the positioning module comprises an infrared binocular camera, and the three-dimensional positioning information is obtained by performing optical positioning based on the binocular vision principle of the infrared binocular camera.
In one embodiment, the three-dimensional positioning information comprises spatial coordinate information and spatial direction coordinate information; the reconstructing the two-dimensional ultrasonic images according to the plurality of three-dimensional positioning information of the ultrasonic probe to obtain three-dimensional ultrasonic images comprises:
adding coordinate information to each two-dimensional ultrasonic image according to the space coordinate information and the space direction coordinate information to obtain ultrasonic imaging data of each two-dimensional ultrasonic image relative to the coordinate system under the visual field;
and carrying out image recombination processing on the ultrasonic imaging data to obtain the three-dimensional ultrasonic image.
In one embodiment, the ultrasound imaging data is obtained using the following formula:
Frame(P，n)＝(xn，yn，zn)(qxn，qyn，qzn，qwn)
wherein n is a serial number of each two-dimensional ultrasound image, (xn, yn, zn are spatial coordinate information of the optical marker in the coordinate system under the field of view, (qxn, qyn, qzn, qwn) are spatial direction coordinate information of the spatial coordinate information of the optical marker in the coordinate system under the field of view, and P represents coordinate information of each two-dimensional ultrasound image relative to the coordinate system under the field of view.
In one embodiment, the method further comprises:
displaying the three-dimensional ultrasonic image and/or feature information of the three-dimensional ultrasonic image, wherein the feature information comprises at least one of position information, size information and position information of the three-dimensional ultrasonic image.
An ultrasound imaging apparatus, the apparatus comprising:
the ultrasonic image acquisition module is used for acquiring a plurality of two-dimensional ultrasonic images generated by the continuous scanning of the ultrasonic probe;
a positioning information acquisition module, configured to acquire a plurality of three-dimensional positioning information of the ultrasound probe, where each three-dimensional positioning information is position information of the ultrasound probe when acquiring each two-dimensional ultrasound image, and the three-dimensional positioning information corresponds to the two-dimensional ultrasound image;
and the ultrasonic image recombination module is used for recombining the two-dimensional ultrasonic images according to the plurality of three-dimensional positioning information of the ultrasonic probe to obtain the three-dimensional ultrasonic images.
A computer device comprising a memory storing a computer program and a processor implementing the steps of the method described above when executing the computer program.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method.
The ultrasonic imaging method, the ultrasonic imaging device, the computer equipment and the storage medium acquire a plurality of two-dimensional ultrasonic images generated when the ultrasonic probe continuously scans; acquiring a plurality of three-dimensional positioning information of the ultrasonic probe, wherein each three-dimensional positioning information is position information of the ultrasonic probe when acquiring each two-dimensional ultrasonic image, and the three-dimensional positioning information corresponds to the two-dimensional ultrasonic image; and recombining the two-dimensional ultrasonic images according to the plurality of three-dimensional positioning information of the ultrasonic probe to obtain the three-dimensional ultrasonic image. On the one hand, avoid for ultrasonic equipment configuration expensive volume probe just can obtain three-dimensional ultrasonic image, reduced the imaging cost, on the other hand has solved the unable problem of realizing the three-dimensional scanning of large tracts of land supersound of volume probe, has promoted the imaging range of three-dimensional ultrasonic image, does not have the restriction of volume probe hardware structure moreover, does benefit to the imaging quality who promotes three-dimensional ultrasonic image.
Drawings
FIG. 1 is a diagram of an exemplary ultrasound imaging method;
FIG. 2 is a schematic flow chart diagram of a method of ultrasound imaging in one embodiment;
FIG. 3a is a flowchart illustrating step S230 according to an embodiment;
FIG. 3b is a schematic view of an ultrasound probe in a coordinate system of a field of view according to one embodiment;
FIG. 4 is a schematic flow chart diagram of a method of ultrasound imaging in another embodiment;
FIG. 5 is a block diagram showing the structure of an ultrasonic imaging apparatus according to an embodiment;
FIG. 6 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In the related art, for example, when an ultrasonic linear array is swept flatly, only a two-dimensional ultrasonic image can be acquired, but a three-dimensional ultrasonic image cannot be acquired, and the three-dimensional ultrasonic image needs to be acquired by combining a volume probe with a certain volume structure. The ultrasonic equipment with the volume probe is mainly used for obstetrics and gynecology in clinic. Due to the structural limitation of volume probe hardware, three-dimensional or four-dimensional ultrasonic images are mostly used for scanning small-area and small-volume tissues, the three-dimensional or four-dimensional imaging effect on large-area and large-area tissues such as blood vessels and vertebras is not ideal, and the probe is expensive.
Based on this, the ultrasound imaging method provided by the present application can be applied to the application environment as shown in fig. 1. The method comprises the following steps: an ultrasound volumetric image imaging system 110, an ultrasound probe 130 provided with an optical marker 120, and an ultrasound two-dimensional image imaging system 140. The ultrasound volume image imaging system 110 is further connected to a positioning module 150, the positioning module 150 is used for optically positioning the ultrasound probe 130 provided with the optical marker 120 to obtain a plurality of three-dimensional positioning information of the ultrasound probe 130, and the three-dimensional positioning information is sent to the ultrasound volume image imaging system 110, and the ultrasound volume image imaging system 110 obtains a plurality of three-dimensional positioning information of the ultrasound probe. The ultrasound probe 130 continuously scans a region of interest, the ultrasound two-dimensional image imaging system 140 processes an ultrasound signal acquired by the ultrasound probe 130 to obtain a plurality of two-dimensional ultrasound images, the ultrasound two-dimensional image imaging system 140 sends the plurality of two-dimensional ultrasound images generated by the continuous scanning of the ultrasound probe to the ultrasound volume image imaging system 110, and the ultrasound volume image imaging system 110 acquires the two-dimensional ultrasound images. The ultrasonic volume image imaging system 110 reconstructs the two-dimensional ultrasonic images according to the three-dimensional positioning information of the ultrasonic probe to obtain three-dimensional ultrasonic images. And the three-dimensional positioning information is position information of the ultrasonic probe when acquiring the two-dimensional ultrasonic images, and the three-dimensional positioning information corresponds to the two-dimensional ultrasonic images. Note that the three-dimensional ultrasound image is also referred to as an ultrasound volume image.
In one embodiment, as shown in fig. 2, an ultrasound imaging method is provided, which is illustrated by applying the method to the ultrasound volume image imaging system 110 in fig. 1, and includes the following steps:
s210, obtaining a plurality of two-dimensional ultrasonic images generated when the ultrasonic probe scans continuously.
The ultrasonic probe may be a transducer which transmits and receives ultrasonic waves during the use of the ultrasonic medical device and converts electric energy and acoustic energy by using the piezoelectric effect of a material. In some implementations, the ultrasound probe is primarily used to transmit ultrasound waves to and acquire acoustic signals from a region of interest, converting the acquired acoustic signals into electrical signals. The region of interest refers to a region of interest of a patient, wherein the patient refers to an animal, including a mammal, particularly a human. Specifically, the region of interest is continuously scanned by an ultrasonic probe and imaged to obtain a plurality of two-dimensional ultrasonic images, and the two-dimensional ultrasonic images are sent to an ultrasonic volume image imaging system, and the ultrasonic volume image imaging system acquires the two-dimensional ultrasonic images.
In some embodiments, the ultrasound two-dimensional image imaging system 140 may read the ultrasound signals acquired by the ultrasound probe in real time through its own data interface, an ultrasound host onboard interface, and a medical information network server interface, so as to obtain a two-dimensional ultrasound image. In addition to two-dimensional ultrasound images, the ultrasound two-dimensional image imaging system 140 may acquire, but is not limited to, time stamp data, operating state data, and the like. The time stamp data may be understood as the time at which the two-dimensional ultrasound image is acquired. The operation state data may be operation mode information of the ultrasonic probe or the like.
S220, acquiring a plurality of three-dimensional positioning information of the ultrasonic probe.
And the three-dimensional positioning information is position information of the ultrasonic probe when acquiring the two-dimensional ultrasonic images, and the three-dimensional positioning information corresponds to the two-dimensional ultrasonic images. In particular, a number of two-dimensional ultrasound images can be obtained by continuously scanning the region of interest with the ultrasound probe. In order to more directly reflect the characteristics of the region of interest, it is necessary to obtain a three-dimensional ultrasound image of the region of interest. Meanwhile, in order to further reduce the cost of the three-dimensional ultrasonic images and improve the imaging quality, the three-dimensional ultrasonic images of the interested part are obtained by using the two-dimensional ultrasonic images. Because the spatial positioning information corresponding to the two-dimensional ultrasonic image is relatively fixed with the three-dimensional positioning information of the ultrasonic probe, when the ultrasonic probe scans the interested part, the ultrasonic probe is positioned to obtain a plurality of three-dimensional positioning information of the ultrasonic probe, so that the ultrasonic volume image imaging system obtains a plurality of three-dimensional positioning information of the ultrasonic probe. In some embodiments, while the first two-dimensional ultrasound image is acquired with the ultrasound probe, three-dimensional positioning information of the ultrasound probe while the first two-dimensional ultrasound image was acquired is recorded. And when the ultrasonic probe is used for acquiring the second two-dimensional ultrasonic image, recording the three-dimensional positioning information of the ultrasonic probe when the second two-dimensional ultrasonic image is acquired. And analogizing in sequence, when the ultrasonic probe is used for acquiring the Nth two-dimensional ultrasonic image, recording the three-dimensional positioning information of the ultrasonic probe when the Nth two-dimensional ultrasonic image is acquired.
And S230, recombining the two-dimensional ultrasonic images according to the three-dimensional positioning information of the ultrasonic probe to obtain the three-dimensional ultrasonic images.
Specifically, as described above, since the spatial positioning information corresponding to the two-dimensional ultrasound image is relatively fixed with the three-dimensional positioning information of the ultrasound probe, after a plurality of three-dimensional positioning information of the ultrasound probe is known, the stacking order of the two-dimensional ultrasound images in the space can be determined according to the position information of the ultrasound probe when the two-dimensional ultrasound images are acquired, and therefore, the two-dimensional ultrasound images are recombined according to the plurality of three-dimensional positioning information of the ultrasound probe to obtain the three-dimensional ultrasound image.
In the ultrasonic imaging method, a plurality of two-dimensional ultrasonic images generated when an ultrasonic probe continuously scans are obtained; acquiring a plurality of three-dimensional positioning information of the ultrasonic probe, wherein each three-dimensional positioning information is position information of the ultrasonic probe when each two-dimensional ultrasonic image is acquired, and the three-dimensional positioning information corresponds to the two-dimensional ultrasonic image; and recombining the two-dimensional ultrasonic images according to the three-dimensional positioning information of the ultrasonic probe to obtain the three-dimensional ultrasonic image. On the one hand, avoid for ultrasonic equipment configuration expensive volume probe just can obtain three-dimensional ultrasonic image, reduced the imaging cost, on the other hand has solved the unable problem of realizing the three-dimensional scanning of large tracts of land supersound of volume probe, has promoted the imaging range of three-dimensional ultrasonic image, does not have the restriction of volume probe hardware structure moreover, does benefit to the imaging quality who promotes three-dimensional ultrasonic image.
In one embodiment, the ultrasound probe is configured with an optical marker. Obtaining a plurality of three-dimensional positioning information of an ultrasound probe, comprising: and carrying out optical positioning on the optical marker to obtain a plurality of three-dimensional positioning information of the ultrasonic probe.
In particular, the ultrasound probe is provided with an optical marker, which may be an active light emitting or reflecting optical device. The optical marker is configured on an instrument, such as an ultrasonic probe, which is required to be used in ultrasonic scanning, so that the ultrasonic probe with the configured optical marker is optically positioned, and a plurality of three-dimensional positioning information of the ultrasonic probe is obtained.
In one embodiment, the three-dimensional positioning information is obtained by optically positioning the optical marker by the positioning module, and the three-dimensional positioning information is position information of the ultrasonic probe in a coordinate system under a field of view of the positioning module.
Wherein, the positioning module can be used for collecting the position of the optical marker. In some embodiments, the optical marker may be composed of 3 or more than 3 active light-emitting or reflective optical markers. For example, an active light emitting LED or a reflective bead (the reflective light source of which may be provided by the positioning module). Wherein, the active light-emitting LED or the light source and the reflection waveband are preferably infrared waveband. Specifically, the optical marker is fixedly installed on the ultrasonic probe, and the position information of the ultrasonic probe can be calculated through the position information of the optical marker. In order to reduce the calculation amount of the system and improve the imaging efficiency, the positioning module is selected as a reference point, and the three-dimensional positioning information of the ultrasonic probe is determined in a coordinate system under the visual field of the positioning module.
In the embodiment, the existing ultrasonic machine and the ultrasonic probe work cooperatively, and the three-dimensional ultrasonic imaging is realized without changing the handheld mode of the ultrasonic probe, so that the ultrasonic volume image imaging system in the application can improve the accuracy and efficiency of ultrasonic scanning and reading with low cost.
In one embodiment, the positioning module comprises an infrared binocular camera, and the three-dimensional positioning information is obtained by performing optical positioning based on the binocular vision principle of the infrared binocular camera.
In this embodiment, the ultrasonic three-dimensional imaging is realized based on the infrared binocular optical positioning, and the generation of the ultrasonic three-dimensional volume image can be realized by performing the infrared binocular optical positioning on a common two-dimensional convex array or linear array ultrasonic probe without using a volume ultrasonic probe. The imaging speed is high, the scanning range is large, and a way and a method for realizing low-cost and high-efficiency medical three-dimensional diagnosis image output are provided.
In one embodiment, the three-dimensional positioning information includes spatial coordinate information and spatial direction coordinate information. As shown in fig. 3a, in step S230, reconstructing each two-dimensional ultrasound image according to a plurality of three-dimensional positioning information of the ultrasound probe to obtain a three-dimensional ultrasound image, including:
and S310, adding coordinate information to each two-dimensional ultrasonic image according to the space coordinate information and the space direction coordinate information to obtain ultrasonic imaging data of each two-dimensional ultrasonic image relative to a coordinate system under the visual field.
And S320, carrying out image recombination processing on the ultrasonic imaging data to obtain a three-dimensional ultrasonic image.
The spatial coordinate information of the ultrasonic probe can be the coordinates of the preset characteristic point of the optical marker in the coordinate system under the visual field. The spatial direction coordinate information can adopt a quaternion of a three-dimensional spatial attitude. The spatial direction coordinate information of the ultrasonic probe can be a three-dimensional space attitude quaternion of a preset feature point of the optical marker in a coordinate system under the visual field. The predetermined characteristic point of the optical mark element may be selected from a set center of the optical mark element or other characteristic points, which are not described herein again. In particular, since the position of the two-dimensional ultrasound image relative to the geometric center of the optical marker is relatively fixed, coordinate information of the two-dimensional ultrasound image relative to the coordinate system under the field of view can be determined. Therefore, for any two-dimensional ultrasonic image, the spatial coordinate information and the spatial direction coordinate information of the ultrasonic probe are added to the two-dimensional ultrasonic image, so that the two-dimensional ultrasonic image has the coordinate information, and the spatial coordinate information and the spatial direction coordinate information of the ultrasonic probe are the coordinate information of the ultrasonic probe in the coordinate system under the visual field, and therefore, the ultrasonic imaging data of the two-dimensional ultrasonic image relative to the coordinate system under the visual field can be obtained. And analogizing in turn, the ultrasonic imaging data of each two-dimensional ultrasonic image relative to the coordinate system under the visual field can be obtained, and the image recombination processing is carried out on each ultrasonic imaging data according to the coordinate information of each two-dimensional ultrasonic image to obtain the corresponding three-dimensional ultrasonic image. It should be noted that, in the process of obtaining the three-dimensional ultrasound image, the motion trajectory of the ultrasound probe may also be obtained according to the spatial coordinate information and the spatial direction coordinate information of the ultrasound probe.
In some embodiments, when the positioning module optically positions the optical marker, a piece of timestamp data may also be obtained and recorded as a positioning timestamp, and the positioning timestamp data may be compared with the ultrasound-acquired timestamp data according to the optical positioning, and if a time difference between the two is within a preset time threshold, a correspondence between three-dimensional positioning information obtained by the optical positioning and a two-dimensional ultrasound image obtained by the ultrasound probe may be determined. The three-dimensional ultrasonic image processing method can improve the accuracy of the three-dimensional ultrasonic image.
In one embodiment, as shown in fig. 3b, the ultrasound imaging data is obtained using the following formula:
Frame(P，n)＝(xn，yn，zn)(qxn，qyn，qzn，qwn)
where n is the serial number of each two-dimensional ultrasound image, (xn, yn, zn) is the spatial coordinate information of the optical marker in the coordinate system under the field of view, (qxn, qyn, qzn, qwn) is the spatial direction coordinate information of the spatial coordinate information of the optical marker in the coordinate system under the field of view, and P represents the coordinate information of each two-dimensional ultrasound image relative to the coordinate system under the field of view.
In one embodiment, the method further comprises: and displaying the three-dimensional ultrasonic image and/or the characteristic information of the three-dimensional ultrasonic image.
In particular, the ultrasound volumetric image imaging system 110 may include a display module including, but not limited to, a number of display screens, wherein the display screens may be a common display screen, or a touch-sensitive display screen. And displaying the three-dimensional ultrasonic image obtained by recombination and/or the related characteristic information thereof through a display module. The feature information includes at least one of position information, size information, and orientation information of the three-dimensional ultrasound image. Therefore, a user can intuitively master the characteristics of the interested part of the ultrasonic scanning through the content displayed by the display module, and the accuracy and efficiency of the ultrasonic scanning are improved.
In one embodiment, the present application provides a method of ultrasound imaging, as shown in fig. 4, comprising the steps of:
s410, obtaining a plurality of two-dimensional ultrasonic images generated when the ultrasonic probe continuously scans;
wherein the ultrasound probe is provided with an optical marker.
And S420, carrying out optical positioning on the optical marker to obtain a plurality of three-dimensional positioning information of the ultrasonic probe.
The three-dimensional positioning information is obtained by optically positioning the optical marker through the positioning module, and is the position information of the ultrasonic probe in a coordinate system under the view field of the positioning module. And the three-dimensional positioning information comprises space coordinate information and space direction coordinate information.
In some embodiments, the positioning module comprises an infrared binocular camera, and the three-dimensional positioning information is obtained by performing optical positioning based on binocular vision principle of the infrared binocular camera.
And S430, adding coordinate information to each two-dimensional ultrasonic image according to the space coordinate information and the space direction coordinate information to obtain ultrasonic imaging data of each two-dimensional ultrasonic image relative to a coordinate system under the visual field.
In some embodiments, the ultrasound imaging data is obtained using the following formula:
Frame(P，n)＝(xn，yn，zn)(qxn，qyn，qzn，qwn)
where n is the serial number of each two-dimensional ultrasound image, (xn, yn, zn) is the spatial coordinate information of the optical marker in the coordinate system under the field of view, (qxn, qyn, qzn, qwn) is the spatial direction coordinate information of the spatial coordinate information of the optical marker in the coordinate system under the field of view, and P represents the coordinate information of each two-dimensional ultrasound image relative to the coordinate system under the field of view.
And S440, carrying out image recombination processing on the ultrasonic imaging data to obtain a three-dimensional ultrasonic image.
S450, displaying the three-dimensional ultrasonic image and the characteristic information of the three-dimensional ultrasonic image.
Wherein the characteristic information includes at least one of position information, size information, and orientation information of the three-dimensional ultrasound image.
It should be understood that, although the steps in the above-described flowcharts are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a part of the steps in the above-mentioned flowcharts may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the steps or the stages is not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a part of the steps or the stages in other steps.
In one embodiment, as shown in fig. 5, there is provided an ultrasound imaging apparatus 500 comprising: an ultrasound image acquisition module 510, a positioning information acquisition module 520, and an ultrasound image reassembly module 530, wherein:
an ultrasound image obtaining module 510, configured to obtain a plurality of two-dimensional ultrasound images generated by the ultrasound probe during continuous scanning;
a positioning information obtaining module 520, configured to obtain a plurality of three-dimensional positioning information of the ultrasound probe, where each three-dimensional positioning information is position information of the ultrasound probe when acquiring each two-dimensional ultrasound image, and the three-dimensional positioning information corresponds to the two-dimensional ultrasound image;
the ultrasonic image recombining module 530 is configured to recombine each two-dimensional ultrasonic image according to the plurality of three-dimensional positioning information of the ultrasonic probe to obtain a three-dimensional ultrasonic image.
In one embodiment, the ultrasound probe is configured with an optical marker; the positioning information obtaining module 520 is further configured to perform optical positioning on the optical marker to obtain a plurality of three-dimensional positioning information of the ultrasound probe.
In one embodiment, the three-dimensional positioning information is obtained by optically positioning the optical marker by the positioning module, and the three-dimensional positioning information is position information of the ultrasonic probe in a coordinate system under a field of view of the positioning module.
In one embodiment, the positioning module comprises an infrared binocular camera, and the three-dimensional positioning information is obtained by performing optical positioning based on the binocular vision principle of the infrared binocular camera.
In one embodiment, the three-dimensional positioning information includes spatial coordinate information and spatial direction coordinate information; the ultrasonic image reorganizing module 530 is further configured to add coordinate information to each two-dimensional ultrasonic image according to the space coordinate information and the space direction coordinate information to obtain ultrasonic imaging data of each two-dimensional ultrasonic image relative to a coordinate system under the field of view; and carrying out image recombination processing on the ultrasonic imaging data to obtain a three-dimensional ultrasonic image.
In one embodiment, the ultrasound imaging data is obtained using the following formula:
Frame(P，n)＝(xn，yn，zn)(qxn，qyn，qzn，qwn)
where n is the serial number of each two-dimensional ultrasound image, (xn, yn, zn) is the spatial coordinate information of the optical marker in the coordinate system under the field of view, (qxn, qyn, qzn, qwn) is the spatial direction coordinate information of the spatial coordinate information of the optical marker in the coordinate system under the field of view, and P represents the coordinate information of each two-dimensional ultrasound image relative to the coordinate system under the field of view.
In one embodiment, the apparatus further includes a display module for displaying the three-dimensional ultrasound image and/or feature information of the three-dimensional ultrasound image, the feature information including at least one of position information, size information, and orientation information of the three-dimensional ultrasound image.
For specific definition of the ultrasound imaging apparatus, reference may be made to the above definition of the ultrasound imaging method, which is not described herein again. The modules in the ultrasonic imaging device can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 6. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement an ultrasound imaging method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 6 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In an embodiment, a computer device is provided, comprising a memory in which a computer program is stored and a processor, which when executing the computer program performs the method steps in the above embodiments.
In an embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, carries out the method steps of the above-mentioned embodiments.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method of ultrasound imaging, the method comprising:
acquiring a plurality of two-dimensional ultrasonic images generated when an ultrasonic probe continuously scans;
acquiring a plurality of three-dimensional positioning information of the ultrasonic probe, wherein each three-dimensional positioning information is position information of the ultrasonic probe when acquiring each two-dimensional ultrasonic image, and the three-dimensional positioning information corresponds to the two-dimensional ultrasonic image;
and recombining the two-dimensional ultrasonic images according to the plurality of three-dimensional positioning information of the ultrasonic probe to obtain the three-dimensional ultrasonic image.
2. The method of claim 1, wherein the ultrasound probe is configured with an optical marker; the acquiring of the plurality of three-dimensional positioning information of the ultrasonic probe comprises:
and carrying out optical positioning on the optical marker to obtain a plurality of three-dimensional positioning information of the ultrasonic probe.
3. The method of claim 2, wherein the three-dimensional positioning information is obtained by optically positioning the optical marker by a positioning module, and the three-dimensional positioning information is position information of the ultrasound probe in a coordinate system under a field of view of the positioning module.
4. The method according to claim 3, wherein the positioning module comprises an infrared binocular camera, and the three-dimensional positioning information is obtained by performing optical positioning based on binocular vision principle of the infrared binocular camera.
5. The method according to claim 3 or 4, wherein the three-dimensional positioning information comprises spatial coordinate information and spatial direction coordinate information; the reconstructing the two-dimensional ultrasonic images according to the plurality of three-dimensional positioning information of the ultrasonic probe to obtain three-dimensional ultrasonic images comprises:
adding coordinate information to each two-dimensional ultrasonic image according to the space coordinate information and the space direction coordinate information to obtain ultrasonic imaging data of each two-dimensional ultrasonic image relative to the coordinate system under the visual field;
and carrying out image recombination processing on the ultrasonic imaging data to obtain the three-dimensional ultrasonic image.
6. The method of claim 5, wherein the ultrasound imaging data is obtained using the following formula:
Frame(P，n)＝(xn，yn，zn)(qxn，qyn，qzn，qwn)
wherein n is a serial number of each two-dimensional ultrasound image, (xn, yn, zn) is spatial coordinate information of the optical marker in the coordinate system under the field of view, (qxn, qyn, qzn, qwn) is spatial direction coordinate information of the spatial coordinate information of the optical marker in the coordinate system under the field of view, and P represents coordinate information of each two-dimensional ultrasound image relative to the coordinate system under the field of view.
7. The method of any one of claims 1 to 4, further comprising:
displaying the three-dimensional ultrasonic image and/or feature information of the three-dimensional ultrasonic image, wherein the feature information comprises at least one of position information, size information and position information of the three-dimensional ultrasonic image.
8. An ultrasound imaging apparatus, characterized in that the apparatus comprises:
the ultrasonic image acquisition module is used for acquiring a plurality of two-dimensional ultrasonic images generated by the continuous scanning of the ultrasonic probe;
a positioning information acquisition module, configured to acquire a plurality of three-dimensional positioning information of the ultrasound probe, where each three-dimensional positioning information is position information of the ultrasound probe when acquiring each two-dimensional ultrasound image, and the three-dimensional positioning information corresponds to the two-dimensional ultrasound image;
and the ultrasonic image recombination module is used for recombining the two-dimensional ultrasonic images according to the plurality of three-dimensional positioning information of the ultrasonic probe to obtain the three-dimensional ultrasonic images.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115670508A (en) * | 2022-11-11 | 2023-02-03 | 上海长征医院 | Big data based data processing system and method for ultrasonic three-dimensional model |
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| CN115670508A (en) * | 2022-11-11 | 2023-02-03 | 上海长征医院 | Big data based data processing system and method for ultrasonic three-dimensional model |
| CN115670508B (en) * | 2022-11-11 | 2023-06-06 | 上海长征医院 | Data processing system and method of ultrasonic three-dimensional model based on big data |
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Inventor after: Xia Yan Inventor after: Jin Xunyuan Inventor after: Lan Lu Inventor before: Jin Xunyuan Inventor before: Lan Lu Inventor before: Xia Yan |