CN116616869A - Accurate model construction method of ultrasonic point cloud - Google Patents
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- 238000002604 ultrasonography Methods 0.000 claims abstract description 15
- 238000002591 computed tomography Methods 0.000 claims abstract description 14
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Abstract
The invention relates to the technical field of model construction, and discloses a method for constructing an accurate model of an ultrasonic point cloud, which comprises the following steps of S1: performing point clouding on the CT image, performing CT scanning on a patient before operation, dividing blood vessels and cysts, and performing point cloud reconstruction; s2: clouding ultrasonic image points; s3: primary reconstruction, scanning along a fixed path in a fixed direction by an ultrasonic probe mounted on a mechanical arm; s4: and (5) accurately reconstructing. According to the invention, by reconstructing the ultrasonic image twice, in the accurate reconstruction process, an accurate ultrasonic model can be constructed by utilizing the modes of position compensation and contour compensation, so that the problems that the ultrasound causes artifacts due to partial volume effect, the positioning of the cyst is accurate in the puncture operation, and serious medical accidents are caused by the milli-centimeter with time difference are avoided.
Description
Technical Field
The invention relates to the technical field of model construction, in particular to a method for constructing an accurate model of an ultrasonic point cloud.
Background
Medical image fusion technology is a hotspot problem of current domestic and foreign research. Medical imaging includes X-ray, ultrasound, computed Tomography (CT), magnetic Resonance (MRI) single photon emission tomography (SPECT), positron Emission Tomography (PET), infrared, digital Subtraction (DSA), fluoroscopic, and the like.
Along with the rapid development of three-dimensional data acquisition technology, point cloud data acquired by a laser radar, a structural light sensor and a stereo camera are widely applied, an ultrasonic image has a volume effect, the observed ultrasonic image is not completely accurate, for example, when a blood vessel is punctured, a puncture needle possibly enters a blood vessel in the ultrasonic image, but the ultrasonic image is not actually observed, partial volume effect is more frequently found in a low echo or no echo structure with a smaller volume, such as a blood vessel, especially a small blood vessel, and is easily influenced by the effect, so that errors occur during puncturing, and a doctor needs to move an ultrasonic probe forwards and backwards under the condition of manual puncturing, confirms from all directions of the probe, continuously observes the change judgment of the image, and has low efficiency.
Disclosure of Invention
(one) solving the technical problems
Aiming at the defects of the prior art, the invention provides a method for constructing an accurate model of an ultrasonic point cloud, which solves the problems that the existing method has errors in the process of ultrasonic point cloud puncture, a doctor needs to move an ultrasonic probe back and forth under the condition of manual puncture, confirms from all directions of the probe, continuously observes the change judgment of images, and has low efficiency.
(II) technical scheme
In order to achieve the above purpose, the present invention provides the following technical solutions:
a method for constructing an accurate model of an ultrasonic point cloud comprises the following steps:
s1: performing point clouding on the CT image, performing CT scanning on a patient before operation, dividing blood vessels and cysts, and performing point cloud reconstruction;
s2: the method comprises the steps of clouding ultrasonic image points, continuously scanning through an ultrasonic probe arranged on a mechanical arm to obtain real-time ultrasonic video information, then obtaining gesture information corresponding to the ultrasonic video information, obtaining ultrasonic probe gesture information (x, y, z, gamma, beta and alpha), then matching an ultrasonic image with the corresponding gesture information, displaying and sampling an identification and identification result of an organ in the ultrasonic image, carrying out three-dimensional coordinate change based on an organ contour sampling point obtained by sampling, obtaining the actual position of each contour point of a frame of picture in a mechanical arm coordinate system, carrying out interpolation processing based on contour features on sparse points, and drawing each converted point into a 3D space for visual display, wherein the coordinate system of the space is set according to a robot coordinate system;
s3: the method comprises the steps of firstly reconstructing, scanning along a fixed path in a fixed direction through an ultrasonic probe arranged on a mechanical arm to obtain real-time ultrasonic information, and then scanning a cyst from left to right along a direction perpendicular to the skin of a patient through the ultrasonic probe, wherein an ultrasonic beam emitted by the probe has a certain thickness, namely, the obtained image is a superimposed image of space echo information within a certain thickness;
s4: accurate reconstruction, based on an ultrasonic point cloud model of primary reconstruction, realizes accurate reconstruction of the cyst in a reverse pushing mode, and performs position compensation and contour compensation during accurate reconstruction.
As a still further scheme of the invention, in S1, the patient is subjected to enhanced CT scanning and ultrasonic scanning, a worker manually selects easily-identified blood vessels or cysts based on the CT scanning result of the patient after scanning, tissue segmentation is performed on the CT image, the blood vessels and cysts are marked, and a point cloud image is reconstructed.
Further, in the step S2, image recognition is performed on each acquired image frame, a corresponding organ contour to be modeled is extracted, and the organ contour is sampled to obtain contour sampling points.
Based on the foregoing solution, in S2, specifically, the robot coordinate system, the probe coordinate system, and the image coordinate system are respectively defined as { B }, { P } and { I }, { P } to { B } conversion matrices areThe conversion matrix from { I } to { P } is }>
On the basis of the scheme, the ultrasonic probe is rigidly connected with the mechanical arm on the basis of the known cyst position in the step S3, and the mechanical arm is controlled to enable the ultrasonic probe to form a fixed included angle with the skin of a patient, so that the cyst is scanned along a fixed route.
As still further aspect of the present invention, if the thickness of the probe of the ultrasound in S3 is d, the two-dimensional position of the scanned image set P along with the translation distance of the probe being L is:
further, the position compensation formula in S4 is as followsWherein x is P ' is the x-axis coordinate of the point set P after accurate reconstruction, when the ultrasonic probe contacts the most edge point of the outline firstly, the point cloud position is built according to the formula (1), then the point cloud information is not reconstructed any more until the target position is reached, and the correction position is as follows: x is x P '＝x p -d
(III) beneficial effects
Compared with the prior art, the invention provides a method for constructing an accurate model of an ultrasonic point cloud, which has the following beneficial effects:
1. according to the invention, through registering, clear tissues of a patient are registered, so that the position of the cyst can be quickly found under the same coordinate system of the ultrasonic image and the CT image, and a basis is provided for the accurate reconstruction.
2. According to the invention, the ultrasonic point cloud model is constructed for the first time, so that the motion path and the scanning direction of ultrasonic waves can be determined, the shape of the cyst is preliminarily recognized, and a foundation is laid for accurate reconstruction.
3. In the invention, by reconstructing the ultrasonic image twice, in the accurate reconstruction process, an accurate ultrasonic model can be constructed by utilizing the modes of position compensation and contour compensation, so that the problems that the ultrasound causes artifacts due to partial volume effect, the positioning of the cyst is accurate in the puncture operation, and serious medical accidents are caused by time difference in millicentimetres are avoided.
Drawings
FIG. 1 is a schematic flow chart of a method for constructing an accurate model of an ultrasonic point cloud;
fig. 2 is a schematic diagram of scanning a cyst from left to right in a vertical direction by an ultrasonic probe according to the accurate model construction method of an ultrasonic point cloud;
FIG. 3 is a schematic view of a scanned ultrasound image of a method for constructing an accurate model of an ultrasound point cloud according to the present invention;
FIG. 4 is a schematic view of an ultrasonic scan after position compensation in the method for constructing an accurate model of an ultrasonic point cloud according to the present invention;
FIG. 5 is a schematic view of the placement position of an ultrasonic probe in the method for constructing an accurate model of an ultrasonic point cloud;
fig. 6 is a schematic diagram of a reconstructed accurate cyst model of an accurate model construction method of an ultrasonic point cloud.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-6, a method for constructing an accurate model of an ultrasonic point cloud includes the following steps:
step 1: manually searching the tumor position and performing point clouding;
step 1-1: performing point clouding on the CT image, performing CT scanning on a patient before operation, dividing blood vessels and cysts, and performing point cloud reconstruction;
step 1-2: the ultrasonic image point clouding is carried out, and a three-dimensional point cloud image is established according to the ultrasonic two-dimensional image and the pose information of the mechanical arm;
step 2: primary reconstruction;
step 2-1: the ultrasonic probe and the mechanical arm are rigidly connected on the basis of the known cyst position, the mechanical arm is controlled to enable the ultrasonic probe to form a fixed included angle with the skin of a patient, and the cyst is scanned along a fixed route, as shown in fig. 2, the imaging of the ultrasonic is related to the movement speed, the thickness of the probe and the movement direction, so that the ultrasonic probe needs to be connected with the mechanical arm to ensure that the ultrasonic probe is along the fixed direction and the fixed path during scanning;
step 2-2: firstly constructing an ultrasonic point cloud model, scanning a cyst from left to right along a direction perpendicular to the skin of a patient by an ultrasonic probe, wherein as the ultrasonic beam emitted by the probe has a certain thickness, namely the obtained image is a superimposed image of spatial echo information within a certain thickness, as shown in fig. 3, a two-dimensional coordinate system is established, the thickness of the ultrasonic probe is d, and then along with the translation distance of the probe being L, the two-dimensional position of a scanned image set P is:
as can be seen from equation (1), the actual cyst image I (a) and the ultrasound scanned image I (B) will differ in two ways: in the x-axis position, due to the thickness of the ultrasound, the ultrasound is imaged in the middle and deviates from the actual positionIn the description of the images, the scanned images are the collection of all the images in the ultrasonic scanning range, so that the shapes of the images are different, and the scanned images I (B) are subjected to point clouding;
step 3: accurate reconstruction, namely realizing accurate reconstruction of the cyst by a back-pushing mode based on the ultrasonic point cloud model of the primary reconstruction;
step 3-1: position compensation, the compensation formula isWherein x is P ' is the x-axis coordinate of the precisely reconstructed point set P;
step 3-2: when the ultrasonic probe is in the position of fig. 5, the contour of the point cloud image is deformed due to overlapping, so that based on primary reconstruction, when the ultrasonic probe firstly contacts with the edge-most point of the contour, namely reaches the position '1', the point cloud position is constructed according to the formula (1), after the ultrasonic probe passes through the position '1', the point cloud information is not reconstructed, and when the ultrasonic probe reaches the position '2', the correction position is as follows: x is x P '＝x p -d
After the above two compensations, an accurate cyst model can be reconstructed, as shown in fig. 6.
By the method, in the current ultrasonic application, the ultrasonic image is reconstructed twice, and in the accurate reconstruction process, an accurate ultrasonic model can be constructed by utilizing the modes of position compensation and contour compensation, so that the problems that the ultrasound causes artifacts due to partial volume effect, the positioning of the cyst is required to be accurate in puncture operation, and serious medical accidents are caused by millicentimetres with time difference are avoided.
In this description, it should be noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. The method for constructing the accurate model of the ultrasonic point cloud is characterized by comprising the following steps of:
s1: performing point clouding on the CT image, performing CT scanning on a patient before operation, dividing blood vessels and cysts, and performing point cloud reconstruction;
s2: the method comprises the steps of clouding ultrasonic image points, continuously scanning through an ultrasonic probe arranged on a mechanical arm to obtain real-time ultrasonic video information, then obtaining gesture information corresponding to the ultrasonic video information, obtaining ultrasonic probe gesture information (x, y, z, gamma, beta and alpha), then matching an ultrasonic image with the corresponding gesture information, displaying and sampling an identification and identification result of an organ in the ultrasonic image, carrying out three-dimensional coordinate change based on an organ contour sampling point obtained by sampling, obtaining the actual position of each contour point of a frame of picture in a mechanical arm coordinate system, carrying out interpolation processing based on contour features on sparse points, and drawing each converted point into a 3D space for visual display, wherein the coordinate system of the space is set according to a robot coordinate system;
s3: the method comprises the steps of firstly reconstructing, scanning along a fixed path in a fixed direction through an ultrasonic probe arranged on a mechanical arm to obtain real-time ultrasonic information, and then scanning a cyst from left to right along a direction perpendicular to the skin of a patient through the ultrasonic probe, wherein an ultrasonic beam emitted by the probe has a certain thickness, namely, the obtained image is a superimposed image of space echo information within a certain thickness;
s4: accurate reconstruction, based on an ultrasonic point cloud model of primary reconstruction, realizes accurate reconstruction of the cyst in a reverse pushing mode, and performs position compensation and contour compensation during accurate reconstruction.
2. The method for constructing an accurate model of an ultrasonic point cloud according to claim 1, wherein in the step S1, enhanced CT scanning and ultrasonic scanning are performed on a patient, a staff manually selects easily identifiable blood vessels or cysts based on CT scanning results of the patient after scanning, performs tissue segmentation on CT images, marks out blood vessels and cysts, and reconstructs a point cloud image.
3. The method for constructing an accurate model of an ultrasound point cloud according to claim 2, wherein in S2, image recognition is performed on each acquired image frame, a corresponding organ contour to be modeled is extracted, and the organ contour is sampled to obtain contour sampling points.
4. The method for constructing an accurate model of an ultrasound point cloud according to claim 1, wherein in S2, a robot coordinate system, a probe coordinate system, and an image coordinate system are defined as { B }, { P }, and { I }, respectively, and a conversion matrix from { P } to { B }, respectively, isThe conversion matrix from { I } to { P } is }>
5. The method for constructing an accurate model of an ultrasonic point cloud according to claim 1, wherein in the step S3, on the basis of the known cyst position, an ultrasonic probe is rigidly connected with a mechanical arm, and the mechanical arm is controlled to enable the ultrasonic probe to form a fixed included angle with the skin of a patient, so that the cyst is scanned along a fixed route.
6. The method for constructing an accurate model of an ultrasound point cloud according to claim 1, wherein the thickness of the probe of the ultrasound in S3 is d, and the two-dimensional position of the scanned image set P is:
7. the method for constructing an accurate model of an ultrasound point cloud according to claim 1, wherein the position compensation formula in S4 isWherein x is P ' is the x-axis coordinate of the point set P after accurate reconstruction, when the ultrasonic probe contacts the most edge point of the outline firstly, the point cloud position is built according to the formula (1), then the point cloud information is not reconstructed any more until the target position is reached, and the correction position is as follows: x is x P '＝x p -d
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