CN1883398A - Apparatus for testing relative position between B type ultrasonic image and probe and test method thereof - Google Patents
Apparatus for testing relative position between B type ultrasonic image and probe and test method thereof Download PDFInfo
- Publication number
- CN1883398A CN1883398A CN200610085263.2A CN200610085263A CN1883398A CN 1883398 A CN1883398 A CN 1883398A CN 200610085263 A CN200610085263 A CN 200610085263A CN 1883398 A CN1883398 A CN 1883398A
- Authority
- CN
- China
- Prior art keywords
- probe
- ultrasonic
- testing
- computer
- image
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000012360 testing method Methods 0.000 title claims abstract description 57
- 239000000523 sample Substances 0.000 title claims abstract description 49
- 238000010998 test method Methods 0.000 title abstract description 5
- 238000003384 imaging method Methods 0.000 claims abstract description 19
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 11
- 238000000034 method Methods 0.000 claims abstract description 10
- 241001481828 Glyptocephalus cynoglossus Species 0.000 claims description 9
- 239000004677 Nylon Substances 0.000 claims description 6
- 229920001778 nylon Polymers 0.000 claims description 6
- 239000000284 extract Substances 0.000 claims description 4
- 229920005479 Lucite® Polymers 0.000 claims description 3
- 239000004926 polymethyl methacrylate Substances 0.000 claims description 3
- 238000012956 testing procedure Methods 0.000 claims description 3
- 238000001959 radiotherapy Methods 0.000 description 9
- 238000001514 detection method Methods 0.000 description 3
- 230000004807 localization Effects 0.000 description 3
- PCTMTFRHKVHKIS-BMFZQQSSSA-N (1s,3r,4e,6e,8e,10e,12e,14e,16e,18s,19r,20r,21s,25r,27r,30r,31r,33s,35r,37s,38r)-3-[(2r,3s,4s,5s,6r)-4-amino-3,5-dihydroxy-6-methyloxan-2-yl]oxy-19,25,27,30,31,33,35,37-octahydroxy-18,20,21-trimethyl-23-oxo-22,39-dioxabicyclo[33.3.1]nonatriaconta-4,6,8,10 Chemical compound C1C=C2C[C@@H](OS(O)(=O)=O)CC[C@]2(C)[C@@H]2[C@@H]1[C@@H]1CC[C@H]([C@H](C)CCCC(C)C)[C@@]1(C)CC2.O[C@H]1[C@@H](N)[C@H](O)[C@@H](C)O[C@H]1O[C@H]1/C=C/C=C/C=C/C=C/C=C/C=C/C=C/[C@H](C)[C@@H](O)[C@@H](C)[C@H](C)OC(=O)C[C@H](O)C[C@H](O)CC[C@@H](O)[C@H](O)C[C@H](O)C[C@](O)(C[C@H](O)[C@H]2C(O)=O)O[C@H]2C1 PCTMTFRHKVHKIS-BMFZQQSSSA-N 0.000 description 2
- 206010028980 Neoplasm Diseases 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
- 230000002950 deficient Effects 0.000 description 2
- 230000029058 respiratory gaseous exchange Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000001225 therapeutic effect Effects 0.000 description 2
- 208000006678 Abdominal Neoplasms Diseases 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 201000011510 cancer Diseases 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000011127 radiochemotherapy Methods 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000003325 tomography Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Landscapes
- Ultra Sonic Daignosis Equipment (AREA)
Abstract
The invention involves a detecting device for detecting the relative position between B-ultrasonic system and its probe. The device consists of detector (1), probe (2), trough (3), B-ultrasonic system (4) and computer (5). Detector (1) is connected with computer (5). Three reflecting balls are fixed on probe (2) and the probe is placed over the water in trough (3). Probe (2) is connected to B-ultrasonic system (4) first and then connected with computer (5). There are five coordinates in the trough, i.e. A, B, C, D and O. AO, BO, CO and DO are imaging lines. The water level in the trough should exceed the image-forming lines. The test procedures are: turn on the B-ultrasonic system and receive B images, collect the coordinates of the reflecting balls on probe (2) and send them to the computer where the image features are acquired; repeat the above process, calculate the powered average of the above data and then an ideal test result is obtained; represent the positions of the image using the feature points obtained by the probe of B-ultrasonic system. With this method, real-time dynamic 3D display of B images is realized.
Description
One, technical field
The present invention relates to armarium and method of testing, specifically relate to a kind of being used for and show the locus of B ultrasonic image quantitatively in medical skills such as radiotherapy or three-dimensional type-B ultrasonic demonstrations.Mainly be test set and the method for testing of determining the spatial relationship between probe and the B ultrasonic imaging surface.
Two, background technology
We know, existing B ultrasonic mainly is to utilize tomography sounding technology, but in real-time B ultrasonic three dimensional display, can't with same patient's pictorial information exactly registration be presented in the same coordinate system, realize this technology, mainly will realize two aspect technology: the one, accurately know the spatial relationship between B ultrasonic image and the probe; Determine the locus of probe besides in real time.
Radiotherapy is the important means of treatment of cancer, for the position that is difficult to perform the operation or the patient that is difficult for operation have therapeutic effect directly, effectively, can prolong the advantage of patient's life, thereby be widely adopted.
Existing radiotherapy locating device has: common simulation localization machine, CT simulated positioner, three-dimensional coordinate location case etc. are several, and these localization methods are to trace on human epidermal, perhaps calculate the elements of a fix etc.Above-mentioned all localization methods, have all that error is big, the defective of poor repeatability, be moved or other machine error simultaneously as after finish the location, then can't carry out real-time tracking proofreaies and correct, can't proofread and correct the position error of generations such as tissue of patient motion as breathing more, seriously influence therapeutic effect.
Three, summary of the invention
1, goal of the invention
The object of the invention provides the test set and the method for testing of a kind of B ultrasonic image and probe relative space position, is used to realize the three-dimensional Real time dynamic display of B ultrasonic image.
This technology can be in radiotherapy Real-time and Dynamic survey the locus and the form of abdominal tumor, constantly provide the digitized feedback information, really radiotherapy is introduced digital chemoradiotherapy.
2, technical scheme
The test set of B ultrasonic image and probe relative space position, it is characterized in that this device comprises detector 1, probe 2, testing flume 3, B ultrasonic 4 and computer 5, wherein detector 1 is connected with computer 5,3 witch balls have been rigidly fixed on the probe 2, and be placed on the water surface of testing flume 3,2 ends that are connected to B ultrasonic 4 of will popping one's head in then, the other end of B ultrasonic 4 is connected with computer 5; Testing flume 3 wherein is that the lucite of 60 * 40 * 40cm is made, four coordinate points that the ABCD quadrate is arranged on a side center position of tank, the O coordinate points is arranged in the another side in the heart, and respectively 4 of ABCD are connected with the O point with nylon wire and are the imaging line, the water level in the testing flume 3 must flood the imaging line.
The method of testing of B ultrasonic image and probe relative position, its testing procedure is as follows:
A) testing flume is put well, fixed,, testing flume A, B, C, D, O five point coordinates are tested, and respectively A, B, C, D and O point are connected to the imaging line with nylon wire with assignment test pen and detector;
B) three witch balls are rigidly fixed on the probe 2, probe 2 is placed on the water surface of testing flume 3, fix motionless;
C) open the image of imaging in the B ultrasonic 4 acceptance test tanks 3, will popping one's head in simultaneously, the witch ball coordinate collects computer on 2;
D) by the image extract minutiae that obtains;
E) calculate according to characteristic point, calculate the spatial relationship between probe 2 and B ultrasonic 4 imaging surfaces;
F) repeat c, d, e step, above result is weighted on average, obtain ideal test result;
G) finally represent the position of B ultrasonic image with the Ultrasonic-B probe characteristic point.
Test philosophy is expressed as follows:
By shown in Figure 3: utilize at synchronization, keep probe static relatively, three stiff points that the one side test obtains popping one's head in are extracted the probe characteristic point, gather this test data, thereby the locus that obtains popping one's head in are described; Test this moment on the other hand, the image that the computer probe forms at testing flume extracts B ultrasonic image feature point, thus the locus of computational picture; Optimize then and calculate two spatial relationships,, form fixed position of image relation with the three-dimensional position of Ultrasonic-B probe characteristic point expression B ultrasonic image.Repeatedly test is weighted on average, finally approaches the hypothesis testing value.
More than in the test, also can not be used in probe and go up the fixing ball of surveying, can select three non-coplanar stiff points on probe, utilize these three point coordinates of test pen actual detection, effect is the same.
This method comprises a kind of testing flume of design, needs a B ultrasonic, a kind of real-time detection system, a cover computer software; Contain the three dimensional display unit of B ultrasonic visual display unit, characteristic point recognition unit, probe display unit, position of image and probe etc.; Computer is according to the B ultrasonic feature image and the characteristic point that show, and again according to real-time probe detection data, but the position relation of accurate Calculation probe and B ultrasonic imaging surface can accurately show its position image in three-dimensional image.
3, beneficial effect
This technology will help the radiotherapy expert, when patient is implemented radiotherapy, dynamically real-time, digital monitoring and correction are carried out in patient's tumor radiotherapy, thoroughly changed the defective of existing static radiotherapy, carry out automated correction to the error that the histokinesis that may cause produces such as breathing simultaneously.
Four, description of drawings
Fig. 1 is the structure of the test set of B ultrasonic image and probe relative space position
1, detector 2, probe 3, testing flume 4, B ultrasonic 5, computer
Fig. 2 is the sketch map of testing flume
A, B, C, D, O are coordinate points, and AO, BO, CO, DO are the imaging line.
Fig. 3 is the testing process sketch map
Five, the specific embodiment
The test set of B ultrasonic image and probe relative space position, this device comprises detector 1, it is the Polaris optical Tracking System type infra-red tracing system that adopts Canada to produce, the resolution of detection accuracy more than 0.5mm, probe 2, testing flume 3, B ultrasonic 4 and computer 5, wherein detector 1 is connected with the computer 5 of intel pentium 4 processor 2.2GHz, 3 witch balls have been rigidly fixed on the probe 2, and be placed on the water surface of testing flume 3,2 ends that are connected to B ultrasonic 4 of will popping one's head in then, the other end of B ultrasonic 4 is connected with computer 5; Testing flume 3 wherein is to make with the lucite of 60 * 40 * 40cm, four coordinate points that A, B, C, D quadrate are arranged on a side center position of tank, the O coordinate points is arranged in the another side in the heart, and respectively 4 of A, B, C, D are connected with the O point with nylon wire and are the imaging line, the water level in the testing flume 3 must flood the imaging line.
The method of testing of B ultrasonic image and probe relative position, its testing procedure is as follows:
A) testing flume 3 is put well, fixed,, testing flume A, B, C, D, O five point coordinates are tested, and respectively A, B, C, D and O point are connected to the imaging line with nylon wire with assignment test pen and detector;
B) three witch balls are rigidly fixed on the probe 2, probe 2 is placed on the water surface of testing flume 3, fix motionless;
C) open the image of imaging in the B ultrasonic 4 acceptance test tanks 3, will being popped one's head in by detector 1 simultaneously, the witch ball coordinate collects computer on 2;
D) by the image extract minutiae that obtains;
E) calculate according to characteristic point, calculate the spatial relationship between probe 2 and B ultrasonic 4 imaging surfaces;
F) repeat c, d, e step, above result is weighted on average, obtain ideal test result;
G) finally represent the position of B ultrasonic image with the Ultrasonic-B probe characteristic point.
Claims (3)
1, the test set of a kind of B ultrasonic image and probe relative space position, it is characterized in that this device comprises detector (1), probe (2), testing flume (3), B ultrasonic (4) and computer (5), wherein detector (1) is connected with computer (5), 3 witch balls have been rigidly fixed on the probe (2), and be placed on the water surface of testing flume (3), to pop one's head in then (2) be connected to an end of B ultrasonic (4), the other end of B ultrasonic (4) is connected with computer (5).
2, the test set of B ultrasonic image according to claim 1 and probe relative space position, it is characterized in that described testing flume (3) is to make with the lucite of 60 * 40 * 40cm, on a side center position of tank, there are A, B, four coordinate points of C, D to be square, the O coordinate points is arranged in the another side in the heart, and respectively 4 of A, B, C, D are connected with the O point with nylon wire and are the imaging line, the water level in the testing flume (3) must flood the imaging line.
3, the method for testing of a kind of B ultrasonic image and probe relative position, its testing procedure is as follows:
A) testing flume is put well, fixed,, testing flume A, B, C, D, O five point coordinates are tested, and respectively A, B, C, D and O point are connected to the imaging line with nylon wire with assignment test pen and detector;
B) three witch balls are rigidly fixed on the probe (2), will pop one's head in (2) are placed on the water surface of testing flume (3), fix motionless;
C) open the image of imaging in B ultrasonic (4) the acceptance test tank (3), will pop one's head in by detector (1) simultaneously, witch ball coordinate collects computer (5) on (2);
D) by the image extract minutiae that obtains;
E) calculate according to characteristic point, calculate the spatial relationship between probe (2) and B ultrasonic (4) imaging surface;
F) repeat c, d, e step, above result is weighted on average, obtain ideal test result;
G) finally represent the position of B ultrasonic image with the Ultrasonic-B probe characteristic point.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200610085263.2A CN1883398A (en) | 2006-06-07 | 2006-06-07 | Apparatus for testing relative position between B type ultrasonic image and probe and test method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200610085263.2A CN1883398A (en) | 2006-06-07 | 2006-06-07 | Apparatus for testing relative position between B type ultrasonic image and probe and test method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1883398A true CN1883398A (en) | 2006-12-27 |
Family
ID=37581795
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200610085263.2A Pending CN1883398A (en) | 2006-06-07 | 2006-06-07 | Apparatus for testing relative position between B type ultrasonic image and probe and test method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1883398A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103829949A (en) * | 2012-11-19 | 2014-06-04 | 韦伯斯特生物官能(以色列)有限公司 | Patient movement compensation in intra-body probe tracking systems |
| CN107714082A (en) * | 2017-09-04 | 2018-02-23 | 北京航空航天大学 | A kind of ultrasonic probe caliberating device and method based on optical alignment |
-
2006
- 2006-06-07 CN CN200610085263.2A patent/CN1883398A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103829949A (en) * | 2012-11-19 | 2014-06-04 | 韦伯斯特生物官能(以色列)有限公司 | Patient movement compensation in intra-body probe tracking systems |
| CN103829949B (en) * | 2012-11-19 | 2019-10-25 | 韦伯斯特生物官能(以色列)有限公司 | Patient motion compensation in internal probe tracking system |
| CN107714082A (en) * | 2017-09-04 | 2018-02-23 | 北京航空航天大学 | A kind of ultrasonic probe caliberating device and method based on optical alignment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Prager et al. | Rapid calibration for 3-D freehand ultrasound | |
| EP2961322B1 (en) | Segmentation of large objects from multiple three-dimensional views | |
| US6193657B1 (en) | Image based probe position and orientation detection | |
| Boctor et al. | Rapid calibration method for registration and 3D tracking of ultrasound images using spatial localizer | |
| Hsu et al. | Freehand 3D ultrasound calibration: a review | |
| US6117078A (en) | Virtual volumetric phantom for ultrasound hands-on training system | |
| US20040100557A1 (en) | Optical tracking systems | |
| Huang et al. | Linear tracking for 3-D medical ultrasound imaging | |
| CN110547872B (en) | Operation navigation registration system | |
| CN1502302A (en) | Method and system for airway measurement | |
| JP2014104354A (en) | Method and device for navigating ct scanning by a marker | |
| CN101036162A (en) | Method and system for maintaining consistent anatomic vieuws in displayed image data | |
| US20110317890A1 (en) | System and method for advanced scanning and for deformation simulation of surfaces | |
| Wen et al. | A novel ultrasound probe spatial calibration method using a combined phantom and stylus | |
| Chan et al. | A needle tracking device for ultrasound guided percutaneous procedures | |
| Kowal et al. | On the development and comparative evaluation of an ultrasound B-mode probe calibration method | |
| WO1999045839A1 (en) | Improvements in ultrasound techniques | |
| CN1883398A (en) | Apparatus for testing relative position between B type ultrasonic image and probe and test method thereof | |
| CN114098818B (en) | Analog imaging method of ultrasonic original image data | |
| TW202023478A (en) | System and method for measuring scoliosis | |
| Rousseau et al. | Quantitative evaluation of three calibration methods for 3-D freehand ultrasound | |
| CN115998334A (en) | Ablation effect display method and ultrasonic imaging system | |
| Karlita et al. | Design and Development of a Mechanical Linear Scanning Device for the Three-Dimensional Ultrasound Imaging System. | |
| Huang et al. | 3-D measurement of body tissues based on ultrasound images with 3-D spatial information | |
| CN111184535A (en) | Handheld unconstrained scanning wireless three-dimensional ultrasound real-time voxel imaging system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |