WO2020215734A1 - Three-dimensional reconstruction method and system for carotid artery ultrasound scanning - Google Patents

Abstract

A three-dimensional reconstruction method and system for carotid artery ultrasound scanning, the method comprising: acquiring model data (S1); re-sampling the model data so as to obtain a carotid artery model data source (S2); according to the carotid artery model data source, obtaining surface map images that respectively correspond to six surfaces that constitute a model thereof (S3); splicing the six surface map images so as to form a carotid artery 3D model frame for display and output (S4); on the basis of the 3D model frame, according to the carotid artery model data source, obtaining section images of a section passing through two pixel points x1 and x2 on any one surface on the 3D model frame (S5); and splicing the obtained section images with the respective surface map images in the original carotid artery 3D model frame into a new 3D model (S6).

Description

颈动脉超声扫查三维重建方法及***Three-dimensional reconstruction method and system for carotid artery ultrasound scanning

本申请要求在2019年04月25日提交中国专利局、申请号为201910338871.7的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。This application claims the priority of a Chinese patent application filed with the Chinese Patent Office with application number 201910338871.7 on April 25, 2019. The entire content of this application is incorporated into this application by reference.

技术领域Technical field

本申请属于医疗超声技术领域，例如涉及一种颈动脉超声扫查三维重建方法及***。This application belongs to the technical field of medical ultrasound, for example, it relates to a three-dimensional reconstruction method and system for carotid artery ultrasound scanning.

背景技术Background technique

超声成像因为其无创性、实时性、操作方便、价格便宜等诸多优势，使其成为临床上应用最为广泛的诊断工具之一。Ultrasound imaging has become one of the most widely used clinical diagnostic tools because of its non-invasive, real-time, convenient operation, low price and many other advantages.

颈动脉超声扫查技术为超声成像技术之一，相关技术中，通常由医生手持探头扫查颈动脉部位，探头方向平行于颈动脉的血管方向，经过该操作后获得颈动脉血管成像图像供医生参考。上述相关技术主要由人工辅助实现，如此，扫查效率低下，且无法全方位的查看图像。Carotid artery ultrasound scanning technology is one of the ultrasound imaging technologies. In related technologies, the doctor usually holds a probe to scan the carotid artery, and the direction of the probe is parallel to the direction of the carotid artery. After this operation, the carotid artery vascular imaging image is obtained for the doctor reference. The above-mentioned related technologies are mainly realized by manual assistance, so the scanning efficiency is low, and the image cannot be viewed in all directions.

为了解决上述问题，相关技术中提出一种自动扫查装置，该装置获得的图像不同于上述的与颈动脉血管方向平行的纵向扫查图像，而是与颈动脉血管方向垂直的横向扫查超声图像，然而，该自动扫查装置获得的扫查图像仅能实时查看每一副图像，如此，难以还原颈动脉的主动脉和分叉位置，难以完整的呈现出颈动脉的病症状态。In order to solve the above-mentioned problems, an automatic scanning device is proposed in the related art. The image obtained by this device is different from the above-mentioned longitudinal scanning image parallel to the carotid artery blood vessel direction, but a transverse scanning ultrasound image perpendicular to the carotid artery blood vessel direction. However, the scanning images obtained by the automatic scanning device can only view each image in real time. Therefore, it is difficult to restore the aorta and bifurcation positions of the carotid artery, and it is difficult to completely present the disease state of the carotid artery.

发明内容Summary of the invention

本申请提供一种颈动脉超声扫查三维重建方法及***。This application provides a three-dimensional reconstruction method and system for carotid artery ultrasound scanning.

本申请一实施方式提供一种颈动脉超声扫查三维重建方法，所述方法包括：An embodiment of the present application provides a three-dimensional reconstruction method for carotid artery ultrasound scanning, the method including:

获取模型数据，所述模型数据包括：与颈动脉血管方向垂直、且连续的多幅横向扫查超声图像，以及扫查设备相关的参数，所述扫查设备相关的参数至少包括：探头扫查深度、探头扫查距离。Acquire model data, the model data including: vertical and continuous multiple transverse scanning ultrasound images perpendicular to the direction of the carotid artery, and parameters related to the scanning device, the parameters related to the scanning device include at least: probe scanning Depth, scanning distance of the probe.

对模型数据进行重采样以获得颈动脉模型数据源，所述颈动脉模型数据源包括：重采样后模型中任意一个像素点的灰度值；Resampling the model data to obtain a carotid artery model data source, where the carotid artery model data source includes: the gray value of any pixel in the model after resampling;

根据所述颈动脉模型数据源获得其构成模型的六个表面所分别对应的表面图图像；Obtaining, according to the carotid artery model data source, surface map images corresponding to the six surfaces constituting the model;

拼接六个表面图图像以形成颈动脉3D模型框架进行显示输出；Mosaic six surface map images to form a carotid artery 3D model frame for display output;

以3D模型框架为基础，根据颈动脉模型数据源，获取3D模型框架上通过任一面上两个像素点x1和x2的切面的切面图像，其中，定义3D模型框架静止状态下，通过像素点x1和x2、垂直于显示平面且与所述3D模型框架相交的面为所述切面；On the basis of the 3D model frame, according to the carotid artery model data source, the cut plane image of the 3D model frame through the two pixels x1 and x2 on any surface is obtained, and the 3D model frame is defined in the static state through the pixel point x1 And x2, the plane perpendicular to the display plane and intersecting with the 3D model frame is the tangent plane;

将获得的切面图像与原有的颈动脉3D模型框架中各个表面图图像拼接为新的3D模型。The obtained section image and each surface map image in the original carotid artery 3D model frame are spliced into a new 3D model.

作为本申请一实施方式，所述对模型数据进行重采样以获得颈动脉模型数据源包括：As an implementation manner of the present application, the re-sampling of model data to obtain a carotid artery model data source includes:

配置颈动脉横切面图像为XOY面，Z轴方向为超声探头沿颈动脉血管方向，以使获得的多幅扫查图像沿Z轴排列形成临时3D模型；Configure the cross-sectional image of the carotid artery as the XOY plane, and the Z-axis direction is the direction of the ultrasound probe along the carotid artery vessel, so that the obtained multiple scan images are arranged along the Z-axis to form a temporary 3D model;

对临时3D模型进行重采样，则重采样后模型中任意一个像素点的灰度值G(i,j)表示为：Resampling the temporary 3D model, the gray value G(i,j) of any pixel in the model after resampling is expressed as:

G(i,j)＝(PD1*(G1(i,j)+PD2*G2(i,j))/(PD1+PD2)，G(i,j)=(PD1*(G1(i,j)+PD2*G2(i,j))/(PD1+PD2),

PD1＝D-m1*d1，PD2＝m2*d1-D，PD1=D-m1*d1, PD2=m2*d1-D,

G1(i,j)＝modelSrc(m1)(i,j)，G2(i,j)＝modelSrc(m2)(i,j)，G1(i,j)=modelSrc(m1)(i,j), G2(i,j)=modelSrc(m2)(i,j),

m2＝m1+1，D＝d2*n,d1＝S1/(m0-1)，

m2=m1+1, D=d2*n, d1=S1/(m0-1),

d2＝S1/(z0-1),R＝(m0-1)/(z0-1)，z0＝(S1*y0)/S2，d2=S1/(z0-1), R=(m0-1)/(z0-1), z0=(S1*y0)/S2,

(i，j)表示像素坐标值，G1(i,j)表示采样前模型第m1张图像的坐标为(i，j)位置的像素灰度值，G2(i,j)表示采样前模型第m2张图像的坐标为(i，j)位置的像素灰度值，m1表示采样前第m1张图像，m2表示采样前m1之后的图像，

表示向下取整，D表示采样后第n张图像的间隔值，d1表示采样前模型中各个扫查图像之间的间隔，d2表示采样后模型中各个扫查图像之间的间隔，R为比例值；m0表示采样前扫查图像的总张数，z0表示采样后实际的扫查距离，亦即采样后模型的扫查长度，S1表示探头扫查距离，S2表示探头扫查深度，x0表示采样后颈动脉横向扫查超声图像的宽，y0表示采样后颈动脉横向扫查超声图像的高； (i,j) represents the pixel coordinate value, G1(i,j) represents the pixel gray value at the position (i,j) of the m1 image of the model before sampling, and G2(i,j) represents the pixel gray value of the position (i,j) before sampling. The coordinates of the m2 image are the pixel gray values at the position (i, j), m1 represents the m1 image before sampling, and m2 represents the image before m1 after sampling.

Represents rounding down, D represents the interval value of the nth image after sampling, d1 represents the interval between each scan image in the model before sampling, d2 represents the interval between each scan image in the model after sampling, R is Scale value; m0 represents the total number of scanned images before sampling, z0 represents the actual scan distance after sampling, that is, the scan length of the model after sampling, S1 represents the probe scan distance, S2 represents the probe scan depth, x0 Indicates the width of the ultrasound image of the carotid artery after sampling, and y0 represents the height of the ultrasound image of the carotid artery after sampling;

根据颈动脉模型数据源建立采样后模型。A post-sampling model was established based on the carotid artery model data source.

作为本申请一实施方式，所述颈动脉模型的六个表面图像包括：As an embodiment of the present application, the six surface images of the carotid artery model include:

surfacePic1＝model[1][x][y]，0＜x≤x0，0＜y≤y0，surfacePic1=model[1][x][y], 0＜x≤x0, 0＜y≤y0,

surfacePic2＝model[z0][x][y]，0＜x≤x0，0＜y≤y0，surfacePic2=model[z0][x][y], 0＜x≤x0, 0＜y≤y0,

surfacePic3＝model[z][1][y]，0＜y≤y0，0＜z≤z0，surfacePic3=model[z][1][y], 0＜y≤y0, 0＜z≤z0,

surfacePic4＝model[z][x0][y]，0＜y≤y0，0＜z≤z0，surfacePic4=model[z][x0][y], 0＜y≤y0, 0＜z≤z0,

surfacePic5＝model[z][x][1]，0＜x≤x0，0＜z≤z0，surfacePic5=model[z][x][1], 0＜x≤x0, 0＜z≤z0,

surfacePic6＝model[z][x][y0]，0＜x≤x0，0＜z≤z0；surfacePic6=model[z][x][y0], 0＜x≤x0, 0＜z≤z0;

其中，surfacePic1表示采样后模型中z值为1的平面，亦即前表面；surfacePic2表示采样后模型z值为z0的平面，亦即后表面；surfacePic3表示采样后模型中x值为1的平面，亦即左表面；surfacePic4表示采样后模型x值为x0的平面，亦即右表面；surfacePic5表示采样后模型中y值为1的平面，亦即上表面；surfacePic6表示采样后模型y值为y0的平面，亦即下表面。Among them, surfacePic1 represents the plane with z value of 1 in the sampled model, that is, the front surface; surfacePic2 represents the plane with z value of z0 in the sampled model, that is, the back surface; surfacePic3 represents the plane with x value of 1 in the sampled model, That is, the left surface; surfacePic4 represents the plane where the x value of the model is x0 after sampling, that is, the right surface; surfacePic5 represents the plane where the y value is 1 in the sampled model, that is, the upper surface; surfacePic6 represents the plane where the y value of the model is y0 after sampling The plane is the lower surface.

作为本申请一实施方式，所述拼接六个表面图图像以形成颈动脉3D模型框架进行显示输出包括：采用three.js技术拼接六个表面图以形成颈动脉3D模型框架。As an embodiment of the present application, the splicing of six surface map images to form a carotid artery 3D model frame for display output includes: using three.js technology to splice six surface maps to form a carotid artery 3D model frame.

作为本申请一实施方式，所述以3D模型框架为基础，根据颈动脉模型数据源，获取3D模型框架上通过任一面上两个像素点x1和x2的切面的切面图像包括：As an embodiment of the present application, based on the 3D model framework and according to the carotid artery model data source, acquiring the cut plane images of the 3D model framework passing through two pixel points x1 and x2 on any surface includes:

选取像素点x1和x2以及所述切面上除x1和x2、且与x1和x2不共线的第三个像素点x3，并基于3D模型框架获得其分别对应的世界坐标；Select the pixel points x1 and x2 and the third pixel point x3 on the tangent plane divided by x1 and x2 and not collinear with x1 and x2, and obtain their respective world coordinates based on the 3D model framework;

根据像素点x1、x2以及x3的世界坐标以及通用的平面方程获得所述切面的平面方程；Obtain the plane equation of the tangent plane according to the world coordinates of the pixel points x1, x2, and x3 and the general plane equation;

通过切面的平面方程以及3D模型框架每个交接边的方程获得所述切面与3D模型框架交接边的交点，并记录在同一点列PointList3D中；Obtain the intersection point of the tangent plane and the intersection edge of the 3D model frame through the plane equation of the tangent plane and the equation of each joint edge of the 3D model frame, and record it in the same point list PointList3D;

按顺时针或逆时针方向排列交点，选择任一交点作为切面的二维平面(0,0)点，二维平面(0,0)点为基础选择第二个交点，以二维平面(0,0)点到第二个交点的射线方向作为切面的X轴，选择通过二维平面(0,0)点、方向垂直于X轴，且指向第三个点所在X轴同一侧的方向的射线为Y轴，形成新的平面坐标系；Arrange the intersection points clockwise or counterclockwise, select any intersection point as the two-dimensional plane (0,0) point of the tangent plane, and select the second intersection point based on the two-dimensional plane (0,0) point. ,0) point to the second intersection point as the X-axis of the tangent plane, select the point that passes through the two-dimensional plane (0,0), the direction is perpendicular to the X-axis, and points to the same side of the X-axis where the third point is The ray is the Y axis, forming a new plane coordinate system;

通过各个交点之间的距离关系获得各个交点的二维坐标点，每个二维坐标点均可看作z坐标为0的三维坐标点，将计算的二维坐标点记录在点列PointList2D中，每个PointList2D的二维坐标点与PointList3D中的三维坐标点一一对应；Obtain the two-dimensional coordinate point of each intersection through the distance relationship between each intersection. Each two-dimensional coordinate point can be regarded as a three-dimensional coordinate point with a z coordinate of 0, and the calculated two-dimensional coordinate point is recorded in the point list PointList2D. The two-dimensional coordinate points of each PointList2D correspond to the three-dimensional coordinate points in the PointList3D one by one;

根据PointList3D中的三维坐标点与PointList2D中的二维坐标点的一一对应关系，使用三维坐标变换公式，计算出旋转矩阵M和平移矩阵T；According to the one-to-one correspondence between the three-dimensional coordinate points in PointList3D and the two-dimensional coordinate points in PointList2D, the three-dimensional coordinate transformation formula is used to calculate the rotation matrix M and the translation matrix T;

连接PointList2D中的二维坐标点形成多边形，所述多边形围成的区域为切面图像；Connecting the two-dimensional coordinate points in PointList2D to form a polygon, and the area enclosed by the polygon is a slice image;

根据所述新的平面坐标系以及PointList2D中的二维坐标点获得所述切面图像中每一个像素点的二维坐标；Obtaining the two-dimensional coordinates of each pixel in the section image according to the new plane coordinate system and the two-dimensional coordinate points in PointList2D;

根据切面图像中每一个像素点的二维坐标，以及前面所述旋转矩阵M和平移矩阵T，获取切面图像中每一个像素点对应的三维坐标；According to the two-dimensional coordinates of each pixel in the slice image, as well as the aforementioned rotation matrix M and translation matrix T, obtain the three-dimensional coordinates corresponding to each pixel in the slice image;

以切面图像中每一个像素点对应的三维坐标查询颈动脉模型数据源，获得所述切面图像中每个像素点对应的灰度值。The carotid artery model data source is queried with the three-dimensional coordinates corresponding to each pixel in the slice image, and the gray value corresponding to each pixel in the slice image is obtained.

本申请一实施方式提供一种颈动脉超声扫查三维重建***，所述***包括：获取模块，设置为获取模型数据，所述模型数据包括：与颈动脉血管方向垂直、且连续的多幅横向扫查超声图像，以及扫查设备相关的参数，所述扫查设备相关的参数至少包括：探头扫查深度、探头扫查距离；An embodiment of the present application provides a carotid artery ultrasound scanning three-dimensional reconstruction system. The system includes: an acquisition module configured to acquire model data, and the model data includes: a plurality of transverse images perpendicular to the direction of the carotid artery and continuous Scan ultrasound images and parameters related to the scanning equipment, where the parameters related to the scanning equipment at least include: probe scanning depth and probe scanning distance;

重采样模块，设置为对模型数据进行重采样以获得颈动脉模型数据源，所述颈动脉模型数据源包括：重采样后模型中任意一个像素点的灰度值；The resampling module is configured to resample the model data to obtain a carotid artery model data source, the carotid artery model data source including: the gray value of any pixel in the model after resampling;

图像提取模块，设置为根据所述颈动脉模型数据源获得其构成模型的六个表面所分别对应的表面图图像；An image extraction module, configured to obtain surface map images corresponding to the six surfaces of the carotid artery model according to the carotid artery model data source;

拼接输出模块，设置为拼接六个表面图图像以形成颈动脉3D模型框架进行显示输出；The splicing output module is set to splice six surface map images to form a carotid artery 3D model frame for display output;

切面处理模块，设置为以3D模型框架为基础，根据颈动脉模型数据源，获取3D模型框架上通过任一面上两个像素点x1和x2的切面的切面图像，其中，定义3D模型框架静止状态下，通过像素点x1和x2、垂直于显示平面且与所述3D模型框架相交的面为所述切面；The section processing module is set to be based on the 3D model frame, and according to the carotid artery model data source, obtain the section image of the section through the two pixels x1 and x2 on any surface of the 3D model frame, which defines the static state of the 3D model frame Below, the plane passing through the pixel points x1 and x2 and perpendicular to the display plane and intersecting the 3D model frame is the cut plane;

模型重建模块，设置为将获得的切面图像与原有的颈动脉3D模型框架中各个表面图图像拼接为新的3D模型。The model reconstruction module is set to stitch the obtained section image and each surface map image in the original carotid artery 3D model frame into a new 3D model.

作为本申请一实施方式，所述重采样模块是设置为：As an implementation manner of the present application, the resampling module is configured as:

配置颈动脉横切面图像为XOY面，Z轴方向为超声探头沿颈动脉血管方向，以使获得的多幅扫查图像沿Z轴排列形成临时3D模型；Configure the cross-sectional image of the carotid artery as the XOY plane, and the Z-axis direction is the direction of the ultrasound probe along the carotid artery vessel, so that the obtained multiple scan images are arranged along the Z-axis to form a temporary 3D model;

对临时3D模型进行重采样，则重采样后模型中任意一个像素点的灰度值G(i,j)表示为：Resampling the temporary 3D model, the gray value G(i,j) of any pixel in the model after resampling is expressed as:

G(i,j)＝(PD1*(G1(i,j)+PD2*G2(i,j))/(PD1+PD2)，G(i,j)=(PD1*(G1(i,j)+PD2*G2(i,j))/(PD1+PD2),

PD1＝D-m1*d1，PD2＝m2*d1-D，PD1=D-m1*d1, PD2=m2*d1-D,

G1(i,j)＝modelSrc(m1)(i,j)，G2(i,j)＝modelSrc(m2)(i,j)，G1(i,j)=modelSrc(m1)(i,j), G2(i,j)=modelSrc(m2)(i,j),

m2＝m1+1，D＝d2*n,d1＝S1/(m0-1)，

m2=m1+1, D=d2*n, d1=S1/(m0-1),

d2＝S1/(z0-1),R＝(m0-1)/(z0-1)，z0＝(S1*y0)/S2，d2=S1/(z0-1), R=(m0-1)/(z0-1), z0=(S1*y0)/S2,

(i，j)表示像素坐标值，G1(i,j)表示采样前模型第m1张图像的坐标为(i，j)位置的像素灰度值，G2(i,j)表示采样前模型第m2张图像的坐标为(i，j)位置的像素灰度值，m1表示采样前第m1张图像，m2表示采样前m1之后的图像，

表示向下取整，D表示采样后第n张图像的间隔值，d1表示采样前模型中各个扫查图像之间的间隔，d2表示采样后模型中各个扫查图像之间的间隔，R为比例值；m0表示采样前扫查图像的总张数，z0表示采样后实际的扫查距离，亦即采样后模型的扫查长度，S1表示探头扫查距离，S2表示探头扫查深度，x0表示采样后颈动脉横向扫查超声图像的宽，y0表示采样后颈动脉横向扫查超声图像的高； (i,j) represents the pixel coordinate value, G1(i,j) represents the pixel gray value at the position (i,j) of the m1 image of the model before sampling, and G2(i,j) represents the pixel gray value of the position (i,j) before sampling. The coordinates of the m2 image are the pixel gray values at the position (i, j), m1 represents the m1 image before sampling, and m2 represents the image after m1 before sampling.

Represents rounding down, D represents the interval value of the nth image after sampling, d1 represents the interval between each scan image in the model before sampling, d2 represents the interval between each scan image in the model after sampling, R is Scale value; m0 represents the total number of scanned images before sampling, z0 represents the actual scanning distance after sampling, that is, the scanning length of the model after sampling, S1 represents the probe scanning distance, S2 represents the probe scanning depth, x0 Indicates the width of the ultrasound image of the carotid artery after sampling, and y0 represents the height of the ultrasound image of the carotid artery after sampling;

根据颈动脉模型数据源建立采样后模型。A post-sampling model was established based on the carotid artery model data source.

作为本申请一实施方式，所述图像提取模块是设置为：As an implementation manner of the present application, the image extraction module is configured as:

获取颈动脉模型数据源；Obtain carotid artery model data source;

则采样后模型的六个表面对应的表面图图像分别为：Then the surface map images corresponding to the six surfaces of the sampled model are:

surfacePic1＝model[1][x][y]，0＜x≤x0，0＜y≤y0，surfacePic1=model[1][x][y], 0＜x≤x0, 0＜y≤y0,

surfacePic2＝model[z0][x][y]，0＜x≤x0，0＜y≤y0，surfacePic2=model[z0][x][y], 0＜x≤x0, 0＜y≤y0,

surfacePic3＝model[z][1][y]，0＜y≤y0，0＜z≤z0，surfacePic3=model[z][1][y], 0＜y≤y0, 0＜z≤z0,

surfacePic4＝model[z][x0][y]，0＜y≤y0，0＜z≤z0，surfacePic4=model[z][x0][y], 0＜y≤y0, 0＜z≤z0,

surfacePic5＝model[z][x][1]，0＜x≤x0，0＜z≤z0，surfacePic5=model[z][x][1], 0＜x≤x0, 0＜z≤z0,

surfacePic6＝model[z][x][y0]，0＜x≤x0，0＜z≤z0；surfacePic6=model[z][x][y0], 0＜x≤x0, 0＜z≤z0;

其中，surfacePic1表示采样后模型中z值为1的平面，亦即前表面；surfacePic2表示采样后模型z值为z0的平面，亦即后表面；surfacePic3表示采样后模型中x值为1的平面，亦即左表面；surfacePic4表示采样后模型x值为x0的平面，亦即右表面；surfacePic5表示采样后模型中y值为1的平面，亦即上表面；surfacePic6表示采样后模型y值为y0的平面，亦即下表面。Among them, surfacePic1 represents the plane with z value of 1 in the sampled model, that is, the front surface; surfacePic2 represents the plane with z value of z0 in the sampled model, that is, the back surface; surfacePic3 represents the plane with x value of 1 in the sampled model, That is, the left surface; surfacePic4 represents the plane where the x value of the model is x0 after sampling, that is, the right surface; surfacePic5 represents the plane where the y value is 1 in the sampled model, which is the upper surface; surfacePic6 represents the plane where the y value of the model is y0 after sampling The plane is the lower surface.

作为本申请一实施方式，所述拼接输出模块是设置为：采用three.js技术拼接六个表面图以形成颈动脉3D模型框架。As an embodiment of the present application, the splicing output module is configured to splice six surface maps using three.js technology to form a carotid artery 3D model frame.

作为本申请一实施方式，所述切面处理模块是设置为：As an implementation manner of the present application, the section processing module is set to:

选取像素点x1和x2以及所述切面上除x1和x2、且与x1和x2不共线的第 三个像素点x3，并基于3D模型框架获得其分别对应的世界坐标；Select the pixel points x1 and x2 and the third pixel point x3 on the tangent plane divided by x1 and x2 and not collinear with x1 and x2, and obtain their respective world coordinates based on the 3D model framework;

根据像素点x1、x2以及x3的世界坐标以及通用的平面方程获得所述切面的平面方程；Obtain the plane equation of the tangent plane according to the world coordinates of the pixel points x1, x2, and x3 and the general plane equation;

通过切面的平面方程以及3D模型框架每个交接边的方程获得所述切面与3D模型框架交接边的交点，并记录在同一点列PointList3D中；Obtain the intersection point of the tangent plane and the intersection edge of the 3D model frame through the plane equation of the tangent plane and the equation of each joint edge of the 3D model frame, and record it in the same point list PointList3D;

按顺时针或逆时针方向排列交点，选择任一交点作为切面的二维平面(0,0)点，二维平面(0,0)点为基础选择第二个交点，以二维平面(0,0)点到第二个交点的射线方向作为切面的X轴，选择通过二维平面(0,0)点、方向垂直于X轴，且指向第三个点所在X轴同一侧的方向的射线为Y轴，形成新的平面坐标系；Arrange the intersection points clockwise or counterclockwise, select any intersection point as the two-dimensional plane (0,0) point of the tangent plane, and select the second intersection point based on the two-dimensional plane (0,0) point. ,0) point to the second intersection point as the X-axis of the tangent plane, select the point that passes through the two-dimensional plane (0,0), the direction is perpendicular to the X-axis, and points to the same side of the X-axis where the third point is The ray is the Y axis, forming a new plane coordinate system;

通过各个交点之间的距离关系获得各个交点的二维坐标点，每个二维坐标点均可看作z坐标为0的三维坐标点，将计算的二维坐标点记录在点列PointList2D中，每个PointList2D中的二维坐标点与PointList3D中的点一一对应；Obtain the two-dimensional coordinate point of each intersection through the distance relationship between each intersection. Each two-dimensional coordinate point can be regarded as a three-dimensional coordinate point with a z coordinate of 0, and the calculated two-dimensional coordinate point is recorded in the point list PointList2D. The two-dimensional coordinate points in each PointList2D correspond to the points in PointList3D one by one;

根据PointList3D中的三维坐标点与PointList2D中的二维坐标点的一一对应关系，使用三维坐标变换公式，计算出旋转矩阵M和平移矩阵T；According to the one-to-one correspondence between the three-dimensional coordinate points in PointList3D and the two-dimensional coordinate points in PointList2D, the three-dimensional coordinate transformation formula is used to calculate the rotation matrix M and the translation matrix T;

连接PointList2D中的二维坐标点形成多边形，所述多边形围成的区域为切面图像；Connecting the two-dimensional coordinate points in PointList2D to form a polygon, and the area enclosed by the polygon is a slice image;

根据所述新的平面坐标系以及PointList2D中的二维坐标点获得所述切面图像中每一个像素点的二维坐标；Obtaining the two-dimensional coordinates of each pixel in the section image according to the new plane coordinate system and the two-dimensional coordinate points in PointList2D;

根据切面图像中每一个像素点的二维坐标，以及前面所述旋转矩阵M和平移矩阵T，获取切面图像中每一个像素点对应的三维坐标；According to the two-dimensional coordinates of each pixel in the slice image, as well as the aforementioned rotation matrix M and translation matrix T, obtain the three-dimensional coordinates corresponding to each pixel in the slice image;

以切面图像中每一个像素点对应的三维坐标查询颈动脉模型数据源，获得所述切面图像中每个像素点对应的灰度值。The carotid artery model data source is queried with the three-dimensional coordinates corresponding to each pixel in the slice image, and the gray value corresponding to each pixel in the slice image is obtained.

附图说明Description of the drawings

图1是本申请一实施方式提供的颈动脉超声扫查三维重建方法的流程示意图；FIG. 1 is a schematic flowchart of a three-dimensional reconstruction method for carotid artery ultrasound scanning provided by an embodiment of the present application;

图2是本申请一示例的颈动脉3D模型坐标系示意图；Fig. 2 is a schematic diagram of a carotid artery 3D model coordinate system according to an example of the present application;

图3是图1中步骤S2的实现方式的流程示意图；FIG. 3 is a schematic flowchart of the implementation of step S2 in FIG. 1;

图4是本申请一示例形成的颈动脉3D模型框架示意图；Figure 4 is a schematic diagram of a carotid artery 3D model frame formed by an example of the present application;

图5是图1中步骤S5的实现方式的流程示意图；FIG. 5 is a schematic flowchart of an implementation manner of step S5 in FIG. 1;

图6是本申请一示例中新的3D模型的示意图；Fig. 6 is a schematic diagram of a new 3D model in an example of this application;

图7是本申请一实施方式提供的颈动脉超声扫查三维重建***的模块示意图。FIG. 7 is a schematic diagram of modules of a carotid artery ultrasound scanning three-dimensional reconstruction system provided by an embodiment of the present application.

具体实施方式Detailed ways

以下将结合附图所示的具体实施方式对本申请进行描述。但这些实施方式并不限制本申请。The application will be described below in conjunction with the specific implementations shown in the drawings. However, these embodiments do not limit the application.

结合1所示，本申请一实施方式提供的颈动脉超声扫查三维重建方法，所述方法包括：As shown in combination 1, the three-dimensional reconstruction method of carotid artery ultrasound scanning provided by an embodiment of the present application includes:

S1、获取模型数据，所述模型数据包括：与颈动脉血管方向垂直、且连续的多幅横向扫查超声图像，以及扫查设备相关的参数，所述扫查设备相关的参数至少包括：探头扫查深度、探头扫查距离。S1. Acquire model data, the model data including: a plurality of continuous transverse scanning ultrasound images perpendicular to the direction of the carotid artery, and parameters related to the scanning device, the parameters related to the scanning device include at least: a probe Scan depth and probe scan distance.

本申请可实现方式中，采用自动扫查装置采集与颈动脉血管方向垂直的横向扫查超声图像，该扫查超声图像完全覆盖了病人颈动脉的主动脉和分叉位置，在三维重建后的3D模型会完整的呈现出病人颈动脉的病症状态。In the implementation manner of this application, an automatic scanning device is used to collect a transverse scanning ultrasound image perpendicular to the direction of the carotid artery. The scanning ultrasound image completely covers the aorta and bifurcation positions of the patient’s carotid artery. The 3D model will completely show the patient's carotid artery disease state.

本申请一实施方式中，在实施步骤S2之前，对获得的横向扫查超声图像进行压缩，其在压缩过程中，需要综合考虑缩放和压缩比率的问题，要使得到的最终超声图像文件的图像质量不能太差，同时超声图像的文件大小不能太大，该压缩技术为相关技术，在此不做赘述，本申请下述实现过程中，使用的模型数据既可以为原始的横向扫查超声图像，也可以为压缩后的横向扫查超声图像。In an embodiment of the present application, before step S2 is implemented, the obtained transverse scanning ultrasound image is compressed. During the compression process, the issues of scaling and compression ratio need to be considered comprehensively, so that the final ultrasound image file must be The quality should not be too bad, and the file size of the ultrasound image should not be too large. The compression technology is a related technology and will not be repeated here. In the following implementation process of this application, the model data used can be the original transverse scan ultrasound image , It can also scan the ultrasound image after compression.

S2、对模型数据进行重采样以获得颈动脉模型数据源，所述颈动脉模型数据源包括：重采样后模型中任意一个像素点的灰度值。S2. Resampling the model data to obtain a carotid artery model data source. The carotid artery model data source includes the gray value of any pixel in the model after resampling.

本申请一实施方式中，结合图2所示，在该示例中，横向扫查超声图像为XOY面，图像中的圆形区域为颈动脉血管横切面，Z轴方向为超声探头沿颈动脉血管方向，整个模型由一张张颈动脉横向扫查超声图像组合成。In an embodiment of the present application, as shown in FIG. 2, in this example, the transverse scan ultrasound image is the XOY plane, the circular area in the image is the cross section of the carotid artery, and the Z axis direction is the ultrasound probe along the carotid artery. Orientation, the whole model is composed of ultrasound images of carotid artery transverse scan.

相应的，结合图3所示，所述步骤S2包括：M1、配置颈动脉横切面图像为XOY面，Z轴方向为超声探头沿颈动脉血管方向，以使获得的多幅扫查图像沿Z轴排列形成临时3D模型；M2、对临时3D模型进行重采样，则重采样后模型中任意一个像素点的灰度值G(i,j)表示为：Correspondingly, as shown in FIG. 3, the step S2 includes: M1, configure the carotid artery cross-sectional image as the XOY plane, and the Z-axis direction is the direction of the ultrasound probe along the carotid artery blood vessel, so that the obtained multiple scan images are along Z The axis arrangement forms a temporary 3D model; M2, re-sampling the temporary 3D model, the gray value G(i,j) of any pixel in the model after resampling is expressed as:

G(i,j)＝(PD1*(G1(i,j)+PD2*G2(i,j))/(PD1+PD2)，G(i,j)=(PD1*(G1(i,j)+PD2*G2(i,j))/(PD1+PD2),

PD1＝D-m1*d1，PD2＝m2*d1-D，PD1=D-m1*d1, PD2=m2*d1-D,

G1(i,j)＝modelSrc(m1)(i,j)，G2(i,j)＝modelSrc(m2)(i,j)，G1(i,j)=modelSrc(m1)(i,j), G2(i,j)=modelSrc(m2)(i,j),

m2＝m1+1，D＝d2*n,d1＝S1/(m0-1)，

m2=m1+1, D=d2*n, d1=S1/(m0-1),

d2＝S1/(z0-1),R＝(m0-1)/(z0-1)，z0＝(S1*y0)/S2，d2=S1/(z0-1), R=(m0-1)/(z0-1), z0=(S1*y0)/S2,

(i，j)表示像素坐标值，G1(i,j)表示采样前模型第m1张图像的坐标为(i，j)位置的像素灰度值，G2(i,j)表示采样前模型第m2张图像的坐标为(i，j)位置的像素灰度值，m1表示采样前第m1张图像，m2表示采样前m1之后的图像，

表示向下取整，D表示采样后第n张图像的间隔值，0<n<z0，d1表示采样前模型中各个扫查图像之间的间隔，d2表示采样后模型中各个扫查图像之间的间隔，R为比例值；m0表示采样前扫查图像的总张数，z0表示采样后实际的扫查距离，亦即采样后模型的扫查长度，S1表示探头扫查距离，S2表示探头扫查深度，x0表示采样后颈动脉横向扫查超声图像的宽，y0表示采样后颈动脉横向扫查超声图像的高。 (i,j) represents the pixel coordinate value, G1(i,j) represents the pixel gray value at the position (i,j) of the m1 image of the model before sampling, and G2(i,j) represents the pixel gray value of the position (i,j) before sampling. The coordinates of the m2 image are the pixel gray values at the position (i, j), m1 represents the m1 image before sampling, and m2 represents the image before m1 after sampling.

Means rounding down, D means the interval value of the nth image after sampling, 0<n<z0, d1 means the interval between each scanned image in the model before sampling, d2 means the interval of each scanned image in the model after sampling R is the scale value; m0 represents the total number of scanned images before sampling, z0 represents the actual scanning distance after sampling, that is, the scanning length of the model after sampling, S1 represents the scanning distance of the probe, and S2 represents Scan depth of the probe, x0 represents the width of the ultrasound image of the carotid artery after sampling, and y0 represents the height of the ultrasound image of the carotid artery after sampling.

该实施方式中的物理参数至少包括：探头扫查距离S1以及探头扫查深度S2。The physical parameters in this embodiment at least include: the probe scanning distance S1 and the probe scanning depth S2.

M3、根据颈动脉模型数据源建立采样后模型。M3. Establish a sampled model based on the carotid artery model data source.

该实施方式中，所述方法还可包括：将颈动脉模型数据存储一.mdl文件中，以用于后续调用，当已知3D模型中每一个像素点的灰度值后，即可以根据各个像素点的灰度值重建采样后的模型，在此不做赘述。In this embodiment, the method may further include: storing the carotid artery model data in an .mdl file for subsequent recall. After the gray value of each pixel in the 3D model is known, it can be The gray value of the pixel is reconstructed and the sampled model is not repeated here.

一实施例中，所述方法还包括：S3、根据所述颈动脉模型数据源获得其构成模型的六个表面所分别对应的表面图图像；S4、拼接六个表面图图像以形成颈动脉3D模型框架进行显示输出。In an embodiment, the method further includes: S3. Obtaining surface map images corresponding to the six surfaces constituting the model according to the carotid artery model data source; S4. Splicing six surface map images to form a carotid artery 3D The model framework performs display output.

本申请实现方式中，所述步骤S3包括：获取颈动脉模型数据源；则采样后模型的六个表面对应的表面图图像分别为：In the implementation manner of the present application, the step S3 includes: acquiring a carotid artery model data source; then the surface map images corresponding to the six surfaces of the model after sampling are:

surfacePic1＝model[1][x][y]，0＜x≤x0，0＜y≤y0，surfacePic1=model[1][x][y], 0＜x≤x0, 0＜y≤y0,

surfacePic2＝model[z0][x][y]，0＜x≤x0，0＜y≤y0，surfacePic2=model[z0][x][y], 0＜x≤x0, 0＜y≤y0,

surfacePic3＝model[z][1][y]，0＜y≤y0，0＜z≤z0，surfacePic3=model[z][1][y], 0＜y≤y0, 0＜z≤z0,

surfacePic4＝model[z][x0][y]，0＜y≤y0，0＜z≤z0，surfacePic4=model[z][x0][y], 0＜y≤y0, 0＜z≤z0,

surfacePic5＝model[z][x][1]，0＜x≤x0，0＜z≤z0，surfacePic5=model[z][x][1], 0＜x≤x0, 0＜z≤z0,

surfacePic6＝model[z][x][y0]，0＜x≤x0，0＜z≤z0；surfacePic6=model[z][x][y0], 0＜x≤x0, 0＜z≤z0;

其中，surfacePic1表示采样后模型中z值为1的平面，亦即前表面；surfacePic2表示采样后模型z值为z0的平面，亦即后表面；surfacePic3表示采样后模型中x值为1的平面，亦即左表面；surfacePic4表示采样后模型x值为x0的平面，亦即右表面；surfacePic5表示采样后模型中y值为1的平面，亦即上表面； surfacePic6表示采样后模型y值为y0的平面，亦即下表面。Among them, surfacePic1 represents the plane with z value of 1 in the sampled model, that is, the front surface; surfacePic2 represents the plane with z value of z0 in the sampled model, that is, the back surface; surfacePic3 represents the plane with x value of 1 in the sampled model, That is, the left surface; surfacePic4 represents the plane where the x value of the model is x0 after sampling, that is, the right surface; surfacePic5 represents the plane where the y value is 1 in the sampled model, that is, the upper surface; surfacePic6 represents the model whose y value is y0 after sampling The plane is the lower surface.

一实施例中，当获知采样后模型的六个表面对应的表面图图像时，可以将其存储于一.surface文件中，以供后续调用。In one embodiment, when the surface map images corresponding to the six surfaces of the sampled model are known, they can be stored in a .surface file for subsequent recall.

对于步骤S4，结合图4所示，可以采用three.js技术拼接六个表面图以形成颈动脉3D模型框架。For step S4, in conjunction with FIG. 4, the three.js technology can be used to splice six surface maps to form a carotid artery 3D model frame.

一实施例中，所述方法还包括：S5、以3D模型框架为基础，根据颈动脉模型数据源，获取3D模型框架上通过任一面上两个像素点x1和x2的切面的切面图像，其中，定义3D模型框架静止状态下，通过像素点x1和x2、垂直于显示平面且与所述3D模型框架相交的面为所述切面。In an embodiment, the method further includes: S5. Based on the 3D model frame, according to the carotid artery model data source, obtain a cut plane image of the cut plane passing through two pixels x1 and x2 on any surface of the 3D model frame, where , Define that in the static state of the 3D model frame, the plane passing through the pixel points x1 and x2, which is perpendicular to the display plane and intersecting with the 3D model frame is the tangent plane.

本申请实施方式中，结合图5所示，所述步骤S5包括：In the embodiment of the present application, as shown in FIG. 5, the step S5 includes:

N1、选取像素点x1和x2以及所述切面上除x1和x2、且与x1和x2不共线的第三个像素点x3，并基于3D模型框架获得其分别对应的世界坐标。N1, select the pixel points x1 and x2 and the third pixel point x3 that is not collinear with x1 and x2 on the tangent plane divided by x1 and x2, and obtain their respective world coordinates based on the 3D model framework.

本申请实现过程中，可通过鼠标移动获取切面，当鼠标滑过3D模型框架的任一面时的开始位置和结束位置分别记做像素点x1和x2。一实施例中，在经过像素点x1和x2连线且垂直于显示平面的面上任选一点为x3，所述x3处于3D模型框架上，且与像素点x1和x2不共线。In the implementation process of this application, the cut plane can be obtained by moving the mouse, and the start position and the end position when the mouse moves over any surface of the 3D model frame are recorded as pixels x1 and x2, respectively. In one embodiment, an optional point on the plane that passes through the pixel points x1 and x2 and is perpendicular to the display plane is x3, which is on the 3D model frame and is not collinear with the pixel points x1 and x2.

N2、根据像素点x1、x2以及x3的世界坐标以及通用的平面方程获得所述切面的平面方程。N2, obtain the plane equation of the tangent plane according to the world coordinates of the pixel points x1, x2, and x3 and the general plane equation.

所述通用的平面方程为Ax+By+cZ+D＝0，根据已知的世界坐标以及通用的平面方程获得该世界坐标对应的平面方程为相关技术，在此不做赘述。The general plane equation is Ax+By+cZ+D=0. Obtaining the plane equation corresponding to the world coordinate according to the known world coordinates and the general plane equation is a related technology, which will not be repeated here.

N3、通过切面的平面方程以及3D模型框架每个交接边的方程获得所述切面与3D模型框架交接边的交点，并记录在同一点列PointList3D中。N3. Obtain the intersection point between the tangent plane and the intersection edge of the 3D model frame through the plane equation of the tangent plane and the equation of each junction edge of the 3D model frame, and record it in the same point list PointList3D.

3D模型框架具有12条楞，根据平面方程以及12条楞的方程可以获得所述交点，将该交点记录在点列PointList3D中以供后续调用。The 3D model frame has 12 flutes, and the intersection point can be obtained according to the plane equation and the equation of the 12 flutes, and the intersection point is recorded in the point list PointList3D for subsequent call.

N4、按顺时针或逆时针方向排列交点，选择任一交点作为切面的二维平面(0,0)点，二维平面(0,0)点为基础选择第二个交点，以二维平面(0,0)点到第二个交点的射线方向作为切面的X轴，选择通过二维平面(0,0)点、方向垂直于X轴，且指向第三个点所在X轴同一侧的方向的射线为Y轴，形成新的平面坐标系。N4. Arrange the intersection points clockwise or counterclockwise, select any intersection point as the two-dimensional plane (0,0) point of the tangent plane, and select the second intersection point based on the two-dimensional plane (0,0) point, and use the two-dimensional plane The ray direction from the (0,0) point to the second intersection point is used as the X axis of the tangent plane, and the (0,0) point through the two-dimensional plane is selected, the direction is perpendicular to the X axis, and the third point is on the same side of the X axis. The ray in the direction is the Y axis, forming a new plane coordinate system.

本申请示例中，将获得的交点按顺时针方向排序。In the example of this application, the obtained intersection points are sorted in a clockwise direction.

N5、通过各个交点之间的距离关系获得各个交点的二维坐标点，每个二维坐标点均可看作z坐标为0的三维坐标点，将计算的二维坐标点记录在点列 PointList2D中，PointList2D中的二维坐标点与PointList3D中的坐标点一一对应。N5. Obtain the two-dimensional coordinate points of each intersection through the distance relationship between the intersections. Each two-dimensional coordinate point can be regarded as a three-dimensional coordinate point with a z coordinate of 0, and the calculated two-dimensional coordinate point is recorded in the point list PointList2D , The two-dimensional coordinate points in PointList2D correspond to the coordinate points in PointList3D one-to-one.

本申请实施方式中，根据点列PointList3D中各个交点的距离关系，可计算出各个交点所对应的平面坐标，将这些二维坐标点放到点列PointList2D中，其中PointList2D中的二维坐标点与PointList3D中的三维坐标点一一对应。In the embodiment of this application, according to the distance relationship of each intersection point in the point list PointList3D, the plane coordinates corresponding to each intersection point can be calculated, and these two-dimensional coordinate points are placed in the point list PointList2D, where the two-dimensional coordinate points in PointList2D and The three-dimensional coordinate points in PointList3D correspond one to one.

N6、根据PointList3D中的三维坐标点与PointList2D中的二维坐标点的一一对应关系，使用三维坐标变换公式，计算出旋转矩阵M和平移矩阵T。N6. According to the one-to-one correspondence between the three-dimensional coordinate points in PointList3D and the two-dimensional coordinate points in PointList2D, use the three-dimensional coordinate transformation formula to calculate the rotation matrix M and the translation matrix T.

本申请实现方式中，二维坐标点可以看成z坐标都为0的三维的交点，因此可以通过三维坐标变换将PointList3D中的所有的三维的交点变换到PointList2D中的二维坐标点。In the implementation of this application, the two-dimensional coordinate points can be regarded as the three-dimensional intersection points with all z-coordinates being 0. Therefore, all three-dimensional intersection points in PointList3D can be transformed into two-dimensional coordinate points in PointList2D through three-dimensional coordinate transformation.

假设PointList3D中点的坐标(x,y,z)，PointList2D中点的坐标为(a,b,0)，则：Assuming that the coordinates of the point in PointList3D are (x, y, z), and the coordinates of the point in PointList2D are (a, b, 0), then:

N7、连接PointList2D中的二维坐标点形成多边形，所述多边形围成的区域为切面图像。N7. Connect the two-dimensional coordinate points in PointList2D to form a polygon, and the area enclosed by the polygon is a tangent image.

N8、根据步骤N4获得的新的平面坐标系以及PointList2D中的二维坐标点，可以获得所述切面图像中每一个像素点的二维坐标；然后根据切面图像中每一个像素点的二维坐标，以及前面所述旋转矩阵M和平移矩阵T，可获取切面图像中每一个像素点对应的三维坐标。N8. According to the new plane coordinate system obtained in step N4 and the two-dimensional coordinate points in PointList2D, the two-dimensional coordinates of each pixel in the slice image can be obtained; and then according to the two-dimensional coordinates of each pixel in the slice image , And the aforementioned rotation matrix M and translation matrix T, the three-dimensional coordinates corresponding to each pixel in the slice image can be obtained.

以切面图像中每一个像素点对应的三维坐标查询颈动脉模型数据源，获得所述切面图像中每个像素点对应的灰度值。The carotid artery model data source is queried with the three-dimensional coordinates corresponding to each pixel in the slice image, and the gray value corresponding to each pixel in the slice image is obtained.

一实施例中，所述方法还包括：S6、将获得的切面图像与原有的颈动脉3D模型框架中各个表面图图像拼接为新的3D模型。In an embodiment, the method further includes: S6, stitching the obtained cross-sectional image and each surface map image in the original carotid artery 3D model frame into a new 3D model.

结合图6所示，该视图中，面a为切面，其余面均为原有的颈动脉3D模型框架中的面。As shown in FIG. 6, in this view, the plane a is a cut plane, and the other planes are all planes in the original carotid artery 3D model frame.

结合图7所示，本申请一实施方式提供一种颈动脉超声扫查三维重建***，所述***包括：获取模块100、重采样模块200、图像提取模块300、拼接输出模块400、切面处理模块500以及模型重建模块600。As shown in FIG. 7, an embodiment of the present application provides a carotid artery ultrasound scanning three-dimensional reconstruction system. The system includes: an acquisition module 100, a resampling module 200, an image extraction module 300, a stitching output module 400, and a slice processing module 500 and model reconstruction module 600.

获取模块100设置为获取模型数据，所述模型数据包括：与颈动脉血管方向垂直、且连续的多幅横向扫查超声图像，以及扫查设备相关的参数，所述扫查设备相关的参数至少包括：探头扫查深度、探头扫查距离。The acquisition module 100 is configured to acquire model data, the model data including: a plurality of continuous transverse scanning ultrasound images perpendicular to the direction of the carotid artery, and parameters related to the scanning device, the parameters related to the scanning device being at least Including: probe scanning depth, probe scanning distance.

本申请一实施方式中，获取模块100还设置为对获得的横向扫查超声图像进行压缩，其在压缩过程中，需要综合考虑缩放和压缩比率的问题，要使得到 的最终超声图像文件的图像质量不能太差，同时超声图像的文件大小不能太大，该压缩技术为相关技术，在此不做赘述，本申请下述实现过程中，使用的模型数据既可以为原始的横向扫查超声图像，也可以为压缩后的横向扫查超声图像。In an embodiment of the present application, the acquisition module 100 is also configured to compress the acquired transverse scanning ultrasound images. During the compression process, the issues of scaling and compression ratio need to be considered comprehensively, so that the final ultrasound image file must be The quality should not be too bad, and the file size of the ultrasound image should not be too large. The compression technology is a related technology and will not be repeated here. In the following implementation process of this application, the model data used can be the original transverse scan ultrasound image , It can also scan the ultrasound image after compression.

重采样模块200设置为对模型数据进行重采样以获得颈动脉模型数据源，所述颈动脉模型数据源包括：重采样后模型中任意一个像素点的灰度值。The resampling module 200 is configured to resample the model data to obtain a carotid artery model data source, the carotid artery model data source including: the gray value of any pixel in the model after resampling.

本申请一实施方式中，重采样模块200是设置为配置颈动脉横切面图像为XOY面，Z轴方向为超声探头沿颈动脉血管方向，以使获得的多幅扫查图像沿Z轴排列形成临时3D模型；对临时3D模型进行重采样，则重采样后模型中任意一个像素点的灰度值G(i,j)表示为：In one embodiment of the present application, the resampling module 200 is configured to configure the carotid artery cross-sectional image to be the XOY plane, and the Z-axis direction is the direction of the ultrasound probe along the carotid artery blood vessel, so that the obtained multiple scan images are arranged along the Z-axis. Temporary 3D model; if the temporary 3D model is resampled, the gray value G(i,j) of any pixel in the model after resampling is expressed as:

G(i,j)＝(PD1*(G1(i,j)+PD2*G2(i,j))/(PD1+PD2)，G(i,j)=(PD1*(G1(i,j)+PD2*G2(i,j))/(PD1+PD2),

PD1＝D-m1*d1，PD2＝m2*d1-D，PD1=D-m1*d1, PD2=m2*d1-D,

G1(i,j)＝modelSrc(m1)(i,j)，G2(i,j)＝modelSrc(m2)(i,j)，G1(i,j)=modelSrc(m1)(i,j), G2(i,j)=modelSrc(m2)(i,j),

m2＝m1+1，D＝d2*n,d1＝S1/(m0-1)，

m2=m1+1, D=d2*n, d1=S1/(m0-1),

d2＝S1/(z0-1),R＝(m0-1)/(z0-1)，z0＝(S1*y0)/S2，d2=S1/(z0-1), R=(m0-1)/(z0-1), z0=(S1*y0)/S2,

(i，j)表示像素坐标值，G1(i,j)表示采样前模型第m1张图像的坐标为(i，j)位置的像素灰度值，G2(i,j)表示采样前模型第m2张图像的坐标为(i，j)位置的像素灰度值，m1表示采样前第m1张图像，m2表示采样前m1之后的图像，

表示向下取整，D表示采样后第n张图像的间隔值，0<n<z0，d1表示采样前模型中各个扫查图像之间的间隔，d2表示采样后模型中各个扫查图像之间的间隔，R为比例值；m0表示采样前扫查图像的总张数，z0表示采样后实际的扫查距离，亦即采样后模型的扫查长度，S1表示探头扫查距离，S2表示探头扫查深度，x0表示采样后颈动脉横向扫查超声图像的宽，y0表示采样后颈动脉横向扫查超声图像的高。 (i,j) represents the pixel coordinate value, G1(i,j) represents the pixel gray value at the position (i,j) of the m1 image of the model before sampling, and G2(i,j) represents the pixel gray value of the position (i,j) before sampling. The coordinates of the m2 image are the pixel gray values at the position (i, j), m1 represents the m1 image before sampling, and m2 represents the image before m1 after sampling.

Means rounding down, D means the interval value of the nth image after sampling, 0<n<z0, d1 means the interval between each scanned image in the model before sampling, d2 means the interval of each scanned image in the model after sampling R is the scale value; m0 represents the total number of scanned images before sampling, z0 represents the actual scanning distance after sampling, that is, the scanning length of the model after sampling, S1 represents the scanning distance of the probe, and S2 represents Scan depth of the probe, x0 represents the width of the ultrasound image of the carotid artery after sampling, and y0 represents the height of the ultrasound image of the carotid artery after sampling.

该实施方式中的物理参数至少包括：探头扫查距离S1以及探头扫查深度S2。The physical parameters in this embodiment at least include: the probe scanning distance S1 and the probe scanning depth S2.

根据颈动脉模型数据源建立采样后模型。A post-sampling model was established based on the carotid artery model data source.

图像提取模块300设置为根据所述颈动脉模型数据源获得其构成模型的六个表面所分别对应的表面图图像；拼接输出模块400设置为拼接六个表面图图像以形成颈动脉3D模型框架进行显示输出。The image extraction module 300 is configured to obtain surface map images corresponding to the six surfaces of the model according to the carotid artery model data source; the splicing output module 400 is configured to splice the six surface map images to form a carotid artery 3D model frame. Display output.

本申请实现方式中，图像提取模块300是设置为获取颈动脉模型数据源；则采样后模型的六个表面对应的表面图图像分别为：In the implementation of the present application, the image extraction module 300 is configured to obtain the carotid artery model data source; then the surface map images corresponding to the six surfaces of the model after sampling are:

surfacePic1＝model[1][x][y]，0＜x≤x0，0＜y≤y0，surfacePic1=model[1][x][y], 0＜x≤x0, 0＜y≤y0,

surfacePic2＝model[z0][x][y]，0＜x≤x0，0＜y≤y0，surfacePic2=model[z0][x][y], 0＜x≤x0, 0＜y≤y0,

surfacePic3＝model[z][1][y]，0＜y≤y0，0＜z≤z0，surfacePic3=model[z][1][y], 0＜y≤y0, 0＜z≤z0,

surfacePic4＝model[z][x0][y]，0＜y≤y0，0＜z≤z0，surfacePic4=model[z][x0][y], 0＜y≤y0, 0＜z≤z0,

surfacePic5＝model[z][x][1]，0＜x≤x0，0＜z≤z0，surfacePic5=model[z][x][1], 0＜x≤x0, 0＜z≤z0,

surfacePic6＝model[z][x][y0]，0＜x≤x0，0＜z≤z0；surfacePic6=model[z][x][y0], 0＜x≤x0, 0＜z≤z0;

其中，surfacePic1表示采样后模型中z值为1的平面，亦即前表面；surfacePic2表示采样后模型z值为z0的平面，亦即后表面；surfacePic3表示采样后模型中x值为1的平面，亦即左表面；surfacePic4表示采样后模型x值为x0的平面，亦即右表面；surfacePic5表示采样后模型中y值为1的平面，亦即上表面；surfacePic6表示采样后模型y值为y0的平面，亦即下表面。Among them, surfacePic1 represents the plane with z value of 1 in the sampled model, that is, the front surface; surfacePic2 represents the plane with z value of z0 in the sampled model, that is, the back surface; surfacePic3 represents the plane with x value of 1 in the sampled model, That is, the left surface; surfacePic4 represents the plane where the x value of the model is x0 after sampling, that is, the right surface; surfacePic5 represents the plane where the y value is 1 in the sampled model, which is the upper surface; surfacePic6 represents the plane where the y value of the model is y0 after sampling The plane is the lower surface.

一实施例中，当获知采样后模型的六个表面对应的表面图图像时，可以将其存储于一.surface文件中，以供后续调用。In one embodiment, when the surface map images corresponding to the six surfaces of the sampled model are known, they can be stored in a .surface file for subsequent recall.

结合图4所示，拼接输出模块400可以设置为采用three.js技术拼接六个表面图以形成颈动脉3D模型框架。As shown in FIG. 4, the splicing output module 400 may be configured to use three.js technology to splice six surface maps to form a carotid artery 3D model frame.

切面处理模块500设置为以3D模型框架为基础，根据颈动脉模型数据源，获取3D模型框架上通过任一面上两个像素点x1和x2的切面的切面图像，其中，定义3D模型框架静止状态下，通过像素点x1和x2、垂直于显示平面且与所述3D模型框架相交的面为所述切面。The section processing module 500 is set to be based on the 3D model frame, and according to the carotid artery model data source, obtain the section image of the section through the two pixel points x1 and x2 on any surface of the 3D model frame, which defines the static state of the 3D model frame Below, the plane passing through the pixel points x1 and x2, perpendicular to the display plane and intersecting the 3D model frame is the tangent plane.

本申请实施方式中，切面处理模块500是设置为选取像素点x1和x2以及所述切面上除x1和x2、且与x1和x2不共线的第三个像素点x3，并基于3D模型框架获得其分别对应的世界坐标；根据像素点x1、x2以及x3的世界坐标以及通用的平面方程获得所述切面的平面方程；通过切面的平面方程以及3D模型框架每个交接边的方程获得所述切面与3D模型框架交接边的交点，并记录在点列PointList3D中；按顺时针或逆时针方向排列交点，选择任一交点作为切面的二维平面(0,0)点，二维平面(0,0)点为基础选择第二个交点，以二维平面(0,0)点到第二个交点的射线方向作为切面的X轴，选择通过二维平面(0,0)点、方向垂直于X轴，且指向第三个点所在X轴同一侧的方向的射线为Y轴，形成新的平面坐标系；通过各个交点之间的距离关系获得各个交点的二维坐标点，每个二维坐标点均可看作z坐标为0的三维坐标点，将计算得到的二维坐标点记录在点列PointList2D中，每个PointList2D中的二维坐标点与PointList3D中的三维坐标点一一对应；根据PointList3D中的三维坐标点与PointList2D中的二维坐标点的一一对应关系，使用三维坐标变换公式，计算出旋转矩阵M和平移矩阵T；连接PointList2D中的二维坐标点形成多边形，所述多边形围成的区域为 切面图像；根据上述获得的新的平面坐标系以及PointList2D中的二维坐标点，可以获得所述切面图像中每一个像素点的二维坐标；然后根据切面图像中每一个像素点的二维坐标，以及前面所述旋转矩阵M和平移矩阵T，可获取切面图像中每一个像素点对应的三维坐标；以切面图像中每一个像素点对应的三维坐标查询颈动脉模型数据源，获得所述切面图像中每个像素点对应的灰度值。In the embodiment of the present application, the section processing module 500 is configured to select pixels x1 and x2 and the third pixel point x3 that is divided by x1 and x2 on the section plane and is not collinear with x1 and x2, and is based on the 3D model framework Obtain its corresponding world coordinates; Obtain the plane equation of the tangent surface according to the world coordinates of the pixel points x1, x2 and x3 and the general plane equation; Obtain the plane equation of the tangent surface and the equation of each junction side of the 3D model frame The intersection point of the tangent plane and the intersection edge of the 3D model frame is recorded in the point list PointList3D; the intersection points are arranged in a clockwise or counterclockwise direction, and any intersection point is selected as the two-dimensional plane (0,0) point of the tangent plane, and the two-dimensional plane (0 ,0) point as the basis, select the second intersection point, take the ray direction from the two-dimensional plane (0,0) point to the second intersection point as the X axis of the tangent plane, and select the (0,0) point through the two-dimensional plane, the direction is perpendicular The ray on the X axis and pointing to the same side of the X axis as the third point is the Y axis, forming a new plane coordinate system; the two-dimensional coordinate points of each intersection are obtained through the distance relationship between the intersections, and each two The two-dimensional coordinate points can be regarded as the three-dimensional coordinate points with the z coordinate of 0, and the calculated two-dimensional coordinate points are recorded in the point list PointList2D. The two-dimensional coordinate points in each PointList2D correspond to the three-dimensional coordinate points in PointList3D. ; According to the one-to-one correspondence between the three-dimensional coordinate points in PointList3D and the two-dimensional coordinate points in PointList2D, use the three-dimensional coordinate transformation formula to calculate the rotation matrix M and the translation matrix T; connect the two-dimensional coordinate points in PointList2D to form a polygon, so The area enclosed by the polygon is a slice image; according to the new plane coordinate system obtained above and the two-dimensional coordinate points in PointList2D, the two-dimensional coordinates of each pixel in the slice image can be obtained; and then according to each pixel in the slice image The two-dimensional coordinates of a pixel, as well as the aforementioned rotation matrix M and translation matrix T, can obtain the three-dimensional coordinates corresponding to each pixel in the slice image; query the carotid artery model with the three-dimensional coordinates corresponding to each pixel in the slice image The data source obtains the gray value corresponding to each pixel in the section image.

模型重建模块600设置为将获得的切面图像与原有的颈动脉3D模型框架中各个表面图图像拼接为新的3D模型。The model reconstruction module 600 is configured to splice the obtained section image and each surface map image in the original carotid artery 3D model frame into a new 3D model.

为描述的方便和简洁，上述描述的***的工作过程，可以参考前述方法实施方式中的对应过程，在此不再赘述。For the convenience and conciseness of the description, the working process of the above-described system can refer to the corresponding process in the foregoing method implementation, which will not be repeated here.

综上所述，本申请的颈动脉超声扫查三维重建方法及***，基于与颈动脉血管方向垂直的横向扫查超声图像，采用下采样的方式重建3D模型，相对于传统的颈动脉二维纵向切面图，可以让超声医生更加直观且全方位地观察病人的病症，降低超声医生对病症的错误判断，提高了超声医生诊断的准确率，且本申请仅需要占用很少的计算资源便可以快速地完成对3D模型的一系列操作，减少了***的硬件成本。In summary, the 3D reconstruction method and system for carotid artery ultrasound scanning of the present application is based on the transverse scanning ultrasound image perpendicular to the direction of the carotid artery blood vessel, and the 3D model is reconstructed by downsampling, which is compared with the traditional two-dimensional carotid artery The longitudinal cross-sectional view allows the ultrasound doctor to observe the patient’s symptoms more intuitively and in all directions, reduces the ultrasound doctor’s misjudgment of the disease, and improves the accuracy of the ultrasound doctor’s diagnosis. Moreover, this application only requires a small amount of computing resources. Quickly complete a series of operations on the 3D model, reducing the hardware cost of the system.

在本申请所提供的几个实施方式中，所揭露的***和方法，可以通过其它的方式实现。例如，以上所描述的***实施方式仅仅是示意性的，例如，所述模块的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个模块或组件可以结合或者可以集成到另一个***，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，***或模块的间接耦合或通信连接，可以是电性，机械或其它的形式。In the several implementation manners provided in this application, the disclosed system and method may be implemented in other ways. For example, the system implementation described above is only illustrative. For example, the division of the modules is only a logical function division, and there may be other divisions in actual implementation, for example, multiple modules or components may be combined or It can be integrated into another system, or some features can be ignored or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, systems or modules, and may be in electrical, mechanical or other forms.

所述作为分离部件说明的模块可以是或者也可以不是物理上分开的，作为模块显示的部件可以是或者也可以不是物理模块，即可以位于一个地方，或者也可以分布到多个网络模块上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施方式方案的目的。The modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, that is, they may be located in one place, or they may be distributed to multiple network modules. Some or all of the modules can be selected according to actual needs to achieve the objectives of the solutions of this embodiment.

另外，在本申请各个实施方式中的各功能模块可以集成在一个处理模块中，也可以是各个模块单独物理存在，也可以2个或2个以上模块集成在一个模块中。上述集成的模块既可以采用硬件的形式实现，也可以采用硬件加软件功能模块的形式实现。In addition, the functional modules in the various embodiments of the present application may be integrated into one processing module, or each module may exist alone physically, or two or more modules may be integrated into one module. The above-mentioned integrated modules can be implemented in the form of hardware, or in the form of hardware plus software functional modules.

上述以软件功能模块的形式实现的集成的模块，可以存储在一个计算机可读取存储介质中。上述软件功能模块存储在一个存储介质中，包括若干指令用以使得一台计算机***(可以是个人计算机，服务器，或者网络***等)或处 理器(processor)执行本申请各个实施方式所述方法的部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。The above-mentioned integrated modules implemented in the form of software function modules may be stored in a computer readable storage medium. The above-mentioned software function module is stored in a storage medium, and includes several instructions to make a computer system (which may be a personal computer, a server, or a network system, etc.) or a processor execute the methods described in the various embodiments of this application. Part of the steps. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program code .

Claims (10)

1. 一种颈动脉超声扫查三维重建方法，包括：A three-dimensional reconstruction method for carotid artery ultrasound scanning, including:

   获取模型数据，所述模型数据包括：与颈动脉血管方向垂直、且连续的多幅横向扫查超声图像，以及扫查设备相关的参数，所述扫查设备相关的参数至少包括：探头扫查深度、探头扫查距离；Acquire model data, the model data including: vertical and continuous multiple transverse scanning ultrasound images perpendicular to the direction of the carotid artery, and parameters related to the scanning device, the parameters related to the scanning device include at least: probe scanning Depth, scanning distance of probe;

   对模型数据进行重采样以获得颈动脉模型数据源，所述颈动脉模型数据源包括：重采样后模型中任意一个像素点的灰度值；Resampling the model data to obtain a carotid artery model data source, where the carotid artery model data source includes: the gray value of any pixel in the model after resampling;

   根据所述颈动脉模型数据源获得其构成模型的六个表面所分别对应的表面图图像；Obtaining, according to the carotid artery model data source, surface map images corresponding to the six surfaces constituting the model;

   拼接六个表面图图像以形成颈动脉3D模型框架进行显示输出；Mosaic six surface map images to form a carotid artery 3D model frame for display output;

   以3D模型框架为基础，根据颈动脉模型数据源，获取3D模型框架上通过任一面上两个像素点x1和x2的切面的切面图像，其中，定义3D模型框架静止状态下，通过像素点x1和x2、垂直于显示平面且与所述3D模型框架相交的面为所述切面；On the basis of the 3D model frame, according to the carotid artery model data source, the cut plane image of the 3D model frame through the two pixels x1 and x2 on any surface is obtained, and the 3D model frame is defined in the static state through the pixel point x1 And x2, the plane perpendicular to the display plane and intersecting with the 3D model frame is the tangent plane;

   将获得的切面图像与原有的颈动脉3D模型框架中各个表面图图像拼接为新的3D模型。The obtained section image and each surface map image in the original carotid artery 3D model frame are spliced into a new 3D model.
2. 根据权利要求1所述的颈动脉超声扫查三维重建方法，其中，所述对模型数据进行重采样以获得颈动脉模型数据源包括：The carotid artery ultrasound scanning three-dimensional reconstruction method according to claim 1, wherein said re-sampling the model data to obtain a carotid artery model data source comprises:

   配置颈动脉横切面图像为XOY面，Z轴方向为超声探头沿颈动脉血管方向，以使获得的多幅扫查图像沿Z轴排列形成临时3D模型；Configure the cross-sectional image of the carotid artery as the XOY plane, and the Z-axis direction is the direction of the ultrasound probe along the carotid artery vessel, so that the obtained multiple scan images are arranged along the Z-axis to form a temporary 3D model;

   对临时3D模型进行重采样，则重采样后模型中任意一个像素点的灰度值G(i,j)表示为：Resampling the temporary 3D model, the gray value G(i,j) of any pixel in the model after resampling is expressed as:

   G(i,j)＝(PD1*(G1(i,j)+PD2*G2(i,j))/(PD1+PD2)，G(i,j)=(PD1*(G1(i,j)+PD2*G2(i,j))/(PD1+PD2),

   PD1＝D-m1*d1，PD2＝m2*d1-D，PD1=D-m1*d1, PD2=m2*d1-D,

   G1(i,j)＝modelSrc(m1)(i,j)，G2(i,j)＝modelSrc(m2)(i,j)，G1(i,j)=modelSrc(m1)(i,j), G2(i,j)=modelSrc(m2)(i,j),

   

   m2＝m1+1，D＝d2*n,d1＝S1/(m0-1)，

   

   m2=m1+1, D=d2*n, d1=S1/(m0-1),

   d2＝S1/(z0-1),R＝(m0-1)/(z0-1)，z0＝(S1*y0)/S2，d2=S1/(z0-1), R=(m0-1)/(z0-1), z0=(S1*y0)/S2,

   (i，j)表示像素坐标值，G1(i,j)表示采样前模型第m1张图像的坐标为(i，j)位置的像素灰度值，G2(i,j)表示采样前模型第m2张图像的坐标为(i，j)位置的像素灰度值，m1表示采样前第m1张图像，m2表示采样前m1之后的图像，

   

   表示向下取整，D表示采样后第n张图像的间隔值，d1表示采样前模型中各个扫查图像之间的间隔，d2表示采样后模型中各个扫查图像之间的间隔，R为 比例值；m0表示采样前扫查图像的总张数，z0表示采样后实际的扫查距离，亦即采样后模型的扫查长度，S1表示探头扫查距离，S2表示探头扫查深度，x0表示采样后颈动脉横向扫查超声图像的宽，y0表示采样后颈动脉横向扫查超声图像的高； (i,j) represents the pixel coordinate value, G1(i,j) represents the pixel gray value at the position (i,j) of the m1 image of the model before sampling, and G2(i,j) represents the pixel gray value of the position (i,j) before sampling. The coordinates of the m2 image are the pixel gray values at the position (i, j), m1 represents the m1 image before sampling, and m2 represents the image before m1 after sampling.

   

   Represents rounding down, D represents the interval value of the nth image after sampling, d1 represents the interval between each scan image in the model before sampling, d2 represents the interval between each scan image in the model after sampling, R is Scale value; m0 represents the total number of scanned images before sampling, z0 represents the actual scan distance after sampling, that is, the scan length of the model after sampling, S1 represents the probe scan distance, S2 represents the probe scan depth, x0 Indicates the width of the ultrasound image of the carotid artery after sampling, and y0 represents the height of the ultrasound image of the carotid artery after sampling;

   根据颈动脉模型数据源建立采样后模型。A post-sampling model was established based on the carotid artery model data source.
3. 根据权利要求2所述的颈动脉超声扫查三维重建方法，其中，所述根据所述颈动脉模型数据源获得其构成模型的六个表面所分别对应的表面图图像包括：The carotid artery ultrasound scanning three-dimensional reconstruction method according to claim 2, wherein said obtaining the surface map images corresponding to the six surfaces constituting the model according to the carotid artery model data source comprises:

   获取颈动脉模型数据源；Obtain carotid artery model data source;

   则采样后模型的六个表面对应的表面图图像分别为：Then the surface map images corresponding to the six surfaces of the sampled model are:

   surfacePic1＝model[1][x][y]，0＜x≤x0，0＜y≤y0，surfacePic1=model[1][x][y], 0＜x≤x0, 0＜y≤y0,

   surfacePic2＝model[z0][x][y]，0＜x≤x0，0＜y≤y0，surfacePic2=model[z0][x][y], 0＜x≤x0, 0＜y≤y0,

   surfacePic3＝model[z][1][y]，0＜y≤y0，0＜z≤z0，surfacePic3=model[z][1][y], 0＜y≤y0, 0＜z≤z0,

   surfacePic4＝model[z][x0][y]，0＜y≤y0，0＜z≤z0，surfacePic4=model[z][x0][y], 0＜y≤y0, 0＜z≤z0,

   surfacePic5＝model[z][x][1]，0＜x≤x0，0＜z≤z0，surfacePic5=model[z][x][1], 0＜x≤x0, 0＜z≤z0,

   surfacePic6＝model[z][x][y0]，0＜x≤x0，0＜z≤z0；surfacePic6=model[z][x][y0], 0＜x≤x0, 0＜z≤z0;

   其中，surfacePic1表示采样后模型中z值为1的平面，亦即前表面；surfacePic2表示采样后模型z值为z0的平面，亦即后表面；surfacePic3表示采样后模型中x值为1的平面，亦即左表面；surfacePic4表示采样后模型x值为x0的平面，亦即右表面；surfacePic5表示采样后模型中y值为1的平面，亦即上表面；surfacePic6表示采样后模型y值为y0的平面，亦即下表面。Among them, surfacePic1 represents the plane with z value of 1 in the sampled model, that is, the front surface; surfacePic2 represents the plane with z value of z0 in the sampled model, that is, the back surface; surfacePic3 represents the plane with x value of 1 in the sampled model, That is, the left surface; surfacePic4 represents the plane where the x value of the model is x0 after sampling, that is, the right surface; surfacePic5 represents the plane where the y value is 1 in the sampled model, which is the upper surface; surfacePic6 represents the plane where the y value of the model is y0 after sampling The plane is the lower surface.
4. 根据权利要求1所述的颈动脉超声扫查三维重建方法，其中，所述拼接六个表面图图像以形成颈动脉3D模型框架进行显示输出包括：The carotid artery ultrasound scanning three-dimensional reconstruction method according to claim 1, wherein said splicing six surface map images to form a carotid artery 3D model frame for display output comprises:

   采用three.js技术拼接六个表面图以形成颈动脉3D模型框架。Three.js technology is used to splice six surface maps to form a carotid artery 3D model frame.
5. 根据权利要求1所述的颈动脉超声扫查三维重建方法，其中，所述以3D模型框架为基础，根据颈动脉模型数据源，获取3D模型框架上通过任一面上两个像素点x1和x2的切面的切面图像包括：The carotid artery ultrasound scanning three-dimensional reconstruction method according to claim 1, wherein the 3D model frame is used as the basis, and the carotid artery model data source is used to obtain two pixels x1 and x2 on any surface of the 3D model frame. The section images of the section include:

   选取像素点x1和x2以及所述切面上除x1和x2、且与x1和x2不共线的第三个像素点x3，并基于3D模型框架获得其分别对应的世界坐标；Select the pixel points x1 and x2 and the third pixel point x3 on the tangent plane divided by x1 and x2 and not collinear with x1 and x2, and obtain their respective world coordinates based on the 3D model framework;

   根据像素点x1、x2以及x3的世界坐标以及通用的平面方程获得所述切面的平面方程；Obtain the plane equation of the tangent plane according to the world coordinates of the pixel points x1, x2, and x3 and the general plane equation;

   通过切面的平面方程以及3D模型框架每个交接边的方程获得所述切面与3D模型框架交接边的交点，并记录在同一点列PointList3D中；Obtain the intersection point of the tangent plane and the intersection edge of the 3D model frame through the plane equation of the tangent plane and the equation of each joint edge of the 3D model frame, and record it in the same point list PointList3D;

   按顺时针或逆时针方向排列交点，选择任一交点作为切面的二维平面(0,0)点，二维平面(0,0)点为基础选择第二个交点，以二维平面(0,0)点到第二个交点的射线方向作为切面的X轴，选择通过二维平面(0,0)点、方向垂直于X轴，且指向第三个点所在X轴同一侧的方向的射线为Y轴，形成新的平面坐标系；Arrange the intersection points clockwise or counterclockwise, select any intersection point as the two-dimensional plane (0,0) point of the tangent plane, and select the second intersection point based on the two-dimensional plane (0,0) point. ,0) point to the second intersection point as the X-axis of the tangent plane, select the point that passes through the two-dimensional plane (0,0), the direction is perpendicular to the X-axis, and points to the same side of the X-axis where the third point is The ray is the Y axis, forming a new plane coordinate system;

   通过各个交点之间的距离关系获得各个交点的二维坐标点，每个二维坐标点均可看作z坐标为0的三维坐标点，将计算出的二维坐标点记录在点列PointList2D中，PointList2D中的二维坐标点与PointList3D中的三维坐标点一一对应；Obtain the two-dimensional coordinate points of each intersection through the distance relationship between each intersection. Each two-dimensional coordinate point can be regarded as a three-dimensional coordinate point with z coordinate of 0, and the calculated two-dimensional coordinate point is recorded in the point list PointList2D , The two-dimensional coordinate points in PointList2D correspond to the three-dimensional coordinate points in PointList3D one-to-one;

   根据PointList3D中的三维坐标点与PointList2D中的二维坐标点的一一对应关系，使用三维坐标变换公式，计算出旋转矩阵M和平移矩阵T；According to the one-to-one correspondence between the three-dimensional coordinate points in PointList3D and the two-dimensional coordinate points in PointList2D, the three-dimensional coordinate transformation formula is used to calculate the rotation matrix M and the translation matrix T;

   连接PointList2D中的二维坐标点形成多边形，所述多边形围成的区域为切面图像；Connecting the two-dimensional coordinate points in PointList2D to form a polygon, and the area enclosed by the polygon is a slice image;

   根据所述新的平面坐标系以及PointList2D中的二维坐标点获得所述切面图像中每一个像素点的二维坐标；Obtaining the two-dimensional coordinates of each pixel in the section image according to the new plane coordinate system and the two-dimensional coordinate points in PointList2D;

   根据切面图像中每一个像素点的二维坐标，以及前面所述旋转矩阵M和平移矩阵T，获取切面图像中每一个像素点对应的三维坐标；According to the two-dimensional coordinates of each pixel in the slice image, as well as the aforementioned rotation matrix M and translation matrix T, obtain the three-dimensional coordinates corresponding to each pixel in the slice image;

   以切面图像中每一个像素点对应的三维坐标查询颈动脉模型数据源，获得所述切面图像中每个像素点对应的灰度值。The carotid artery model data source is queried with the three-dimensional coordinates corresponding to each pixel in the slice image, and the gray value corresponding to each pixel in the slice image is obtained.
6. 一种颈动脉超声扫查三维重建***，包括：A three-dimensional reconstruction system for carotid artery ultrasound scanning, including:

   获取模块，设置为获取模型数据，所述模型数据包括：与颈动脉血管方向垂直、且连续的多幅横向扫查超声图像，以及扫查设备相关的参数，所述扫查设备相关的参数至少包括：探头扫查深度、探头扫查距离；The acquisition module is configured to acquire model data, the model data including: vertical and continuous multiple transverse scanning ultrasound images perpendicular to the direction of the carotid artery, and parameters related to the scanning device, the parameters related to the scanning device at least Including: probe scanning depth, probe scanning distance;

   重采样模块，设置为对模型数据进行重采样以获得颈动脉模型数据源，所述颈动脉模型数据源包括：重采样后模型中任意一个像素点的灰度值；The resampling module is configured to resample the model data to obtain a carotid artery model data source, the carotid artery model data source including: the gray value of any pixel in the model after resampling;

   图像提取模块，设置为根据所述颈动脉模型数据源获得其构成模型的六个表面所分别对应的表面图图像；An image extraction module, configured to obtain surface map images corresponding to the six surfaces of the carotid artery model according to the carotid artery model data source;

   拼接输出模块，设置为拼接六个表面图图像以形成颈动脉3D模型框架进行显示输出；The splicing output module is set to splice six surface map images to form a carotid artery 3D model frame for display output;

   切面处理模块，设置为以3D模型框架为基础，根据颈动脉模型数据源，获 取3D模型框架上通过任一面上两个像素点x1和x2的切面的切面图像，其中，定义3D模型框架静止状态下，通过像素点x1和x2、垂直于显示平面且与所述3D模型框架相交的面为所述切面；The section processing module is set to be based on the 3D model frame, and according to the carotid artery model data source, obtain the section image of the section through the two pixels x1 and x2 on any surface of the 3D model frame, which defines the static state of the 3D model frame Below, the plane passing through the pixel points x1 and x2 and perpendicular to the display plane and intersecting the 3D model frame is the cut plane;

   模型重建模块，设置为将获得的切面图像与原有的颈动脉3D模型框架中各个表面图图像拼接为新的3D模型。The model reconstruction module is set to stitch the obtained section image and each surface map image in the original carotid artery 3D model frame into a new 3D model.
7. 根据权利要求6所述的颈动脉超声扫查三维重建***，其中，所述重采样模块是设置为：The carotid artery ultrasound scanning three-dimensional reconstruction system according to claim 6, wherein the resampling module is configured to:

   配置颈动脉横切面图像为XOY面，Z轴方向为超声探头沿颈动脉血管方向，以使获得的多幅扫查图像沿Z轴排列形成临时3D模型；Configure the cross-sectional image of the carotid artery as the XOY plane, and the Z-axis direction is the direction of the ultrasound probe along the carotid artery vessel, so that the obtained multiple scan images are arranged along the Z-axis to form a temporary 3D model;

   对临时3D模型进行重采样，则重采样后模型中任意一个像素点的灰度值G(i,j)表示为：Resampling the temporary 3D model, the gray value G(i,j) of any pixel in the model after resampling is expressed as:

   G(i,j)＝(PD1*(G1(i,j)+PD2*G2(i,j))/(PD1+PD2)，G(i,j)=(PD1*(G1(i,j)+PD2*G2(i,j))/(PD1+PD2),

   PD1＝D-m1*d1，PD2＝m2*d1-D，PD1=D-m1*d1, PD2=m2*d1-D,

   G1(i,j)＝modelSrc(m1)(i,j)，G2(i,j)＝modelSrc(m2)(i,j)，G1(i,j)=modelSrc(m1)(i,j), G2(i,j)=modelSrc(m2)(i,j),

   

   m2＝m1+1，D＝d2*n,d1＝S1/(m0-1)，

   

   m2=m1+1, D=d2*n, d1=S1/(m0-1),

   d2＝S1/(z0-1),R＝(m0-1)/(z0-1)，z0＝(S1*y0)/S2，d2=S1/(z0-1), R=(m0-1)/(z0-1), z0=(S1*y0)/S2,

   (i，j)表示像素坐标值，G1(i,j)表示采样前模型第m1张图像的坐标为(i，j)位置的像素灰度值，G2(i,j)表示采样前模型第m2张图像的坐标为(i，j)位置的像素灰度值，m1表示采样前第m1张图像，m2表示采样前m1之后的图像，

   

   表示向下取整，D表示采样后第n张图像的间隔值，d1表示采样前模型中各个扫查图像之间的间隔，d2表示采样后模型中各个扫查图像之间的间隔，R为比例值；m0表示采样前扫查图像的总张数，z0表示采样后实际的扫查距离，亦即采样后模型的扫查长度，S1表示探头扫查距离，S2表示探头扫查深度，x0表示采样后颈动脉横向扫查超声图像的宽，y0表示采样后颈动脉横向扫查超声图像的高； (i,j) represents the pixel coordinate value, G1(i,j) represents the pixel gray value at the position (i,j) of the m1 image of the model before sampling, and G2(i,j) represents the pixel gray value of the position (i,j) before sampling. The coordinates of the m2 image are the pixel gray values at the position (i, j), m1 represents the m1 image before sampling, and m2 represents the image before m1 after sampling.

   

   Represents rounding down, D represents the interval value of the nth image after sampling, d1 represents the interval between each scan image in the model before sampling, d2 represents the interval between each scan image in the model after sampling, R is Scale value; m0 represents the total number of scanned images before sampling, z0 represents the actual scan distance after sampling, that is, the scan length of the model after sampling, S1 represents the probe scan distance, S2 represents the probe scan depth, x0 Indicates the width of the ultrasound image of the carotid artery after sampling, and y0 represents the height of the ultrasound image of the carotid artery after sampling;

   根据颈动脉模型数据源建立采样后模型。A post-sampling model was established based on the carotid artery model data source.
8. 根据权利要求7所述的颈动脉超声扫查三维重建***，其中，所述图像提取模块是设置为：The carotid artery ultrasound scanning three-dimensional reconstruction system according to claim 7, wherein the image extraction module is configured to:

   获取颈动脉模型数据源；Obtain carotid artery model data source;

   则采样后模型的六个表面对应的表面图图像分别为：Then the surface map images corresponding to the six surfaces of the sampled model are:

   surfacePic1＝model[1][x][y]，0＜x≤x0，0＜y≤y0，surfacePic1=model[1][x][y], 0＜x≤x0, 0＜y≤y0,

   surfacePic2＝model[z0][x][y]，0＜x≤x0，0＜y≤y0，surfacePic2=model[z0][x][y], 0＜x≤x0, 0＜y≤y0,

   surfacePic3＝model[z][1][y]，0＜y≤y0，0＜z≤z0，surfacePic3=model[z][1][y], 0＜y≤y0, 0＜z≤z0,

   surfacePic4＝model[z][x0][y]，0＜y≤y0，0＜z≤z0，surfacePic4=model[z][x0][y], 0＜y≤y0, 0＜z≤z0,

   surfacePic5＝model[z][x][1]，0＜x≤x0，0＜z≤z0，surfacePic5=model[z][x][1], 0＜x≤x0, 0＜z≤z0,

   surfacePic6＝model[z][x][y0]，0＜x≤x0，0＜z≤z0；surfacePic6=model[z][x][y0], 0＜x≤x0, 0＜z≤z0;

   其中，surfacePic1表示采样后模型中z值为1的平面，亦即前表面；surfacePic2表示采样后模型z值为z0的平面，亦即后表面；surfacePic3表示采样后模型中x值为1的平面，亦即左表面；surfacePic4表示采样后模型x值为x0的平面，亦即右表面；surfacePic5表示采样后模型中y值为1的平面，亦即上表面；surfacePic6表示采样后模型y值为y0的平面，亦即下表面。Among them, surfacePic1 represents the plane with z value of 1 in the sampled model, that is, the front surface; surfacePic2 represents the plane with z value of z0 in the sampled model, that is, the back surface; surfacePic3 represents the plane with x value of 1 in the sampled model, That is, the left surface; surfacePic4 represents the plane where the x value of the model is x0 after sampling, that is, the right surface; surfacePic5 represents the plane where the y value is 1 in the sampled model, which is the upper surface; surfacePic6 represents the plane where the y value of the model is y0 after sampling The plane is the lower surface.
9. 根据权利要求6所述的颈动脉超声扫查三维重建***，其中，所述拼接输出模块是设置为：The carotid artery ultrasound scanning three-dimensional reconstruction system according to claim 6, wherein the splicing output module is configured to:

   采用three.js技术拼接六个表面图以形成颈动脉3D模型框架。Three.js technology is used to splice six surface maps to form a carotid artery 3D model frame.
10. 根据权利要求9所述的颈动脉超声扫查三维重建***，其中，所述切面处理模块是设置为：The carotid artery ultrasound scanning three-dimensional reconstruction system according to claim 9, wherein the section processing module is configured to:

    选取像素点x1和x2以及所述切面上除x1和x2、且与x1和x2不共线的第三个像素点x3，并基于3D模型框架获得其分别对应的世界坐标；Select the pixel points x1 and x2 and the third pixel point x3 on the tangent plane divided by x1 and x2 and not collinear with x1 and x2, and obtain their respective world coordinates based on the 3D model framework;

    根据像素点x1、x2以及x3的世界坐标以及通用的平面方程获得所述切面的平面方程；Obtain the plane equation of the tangent plane according to the world coordinates of the pixel points x1, x2, and x3 and the general plane equation;

    通过切面的平面方程以及3D模型框架每个交接边的方程获得所述切面与3D模型框架交接边的交点，并记录在同一点列PointList3D中；Obtain the intersection point of the tangent plane and the intersection edge of the 3D model frame through the plane equation of the tangent plane and the equation of each joint edge of the 3D model frame, and record it in the same point list PointList3D;

    按顺时针或逆时针方向排列交点，选择任一交点作为切面的二维平面(0,0)点，二维平面(0,0)点为基础选择第二个交点，以二维平面(0,0)点到第二个交点的射线方向作为切面的X轴，选择通过二维平面(0,0)点、方向垂直于X轴，且指向第三个点所在X轴同一侧的方向的射线为Y轴，形成新的平面坐标系；Arrange the intersection points clockwise or counterclockwise, select any intersection point as the two-dimensional plane (0,0) point of the tangent plane, and select the second intersection point based on the two-dimensional plane (0,0) point. ,0) point to the second intersection point as the X-axis of the tangent plane, select the point that passes through the two-dimensional plane (0,0), the direction is perpendicular to the X-axis, and points to the same side of the X-axis where the third point is The ray is the Y axis, forming a new plane coordinate system;

    通过各个交点之间的距离关系获得各个交点的二维坐标点，每个二维坐标点均可看作z坐标为0的三维坐标点，将计算出的二维坐标点记录在点列PointList2D中，PointList2D中的二维坐标点与PointList3D中的三维坐标点一一对应；Obtain the two-dimensional coordinate points of each intersection through the distance relationship between each intersection. Each two-dimensional coordinate point can be regarded as a three-dimensional coordinate point with z coordinate of 0, and the calculated two-dimensional coordinate point is recorded in the point list PointList2D , The two-dimensional coordinate points in PointList2D correspond to the three-dimensional coordinate points in PointList3D one-to-one;

    根据PointList3D中的三维的交点与PointList2D中的二维坐标点的一一对应关系，使用三维坐标变换公式，计算出旋转矩阵M和平移矩阵T；According to the one-to-one correspondence between the three-dimensional intersection points in PointList3D and the two-dimensional coordinate points in PointList2D, the three-dimensional coordinate transformation formula is used to calculate the rotation matrix M and the translation matrix T;

    连接PointList2D中的二维坐标点形成多边形，所述多边形围成的区域为切面图像；Connecting the two-dimensional coordinate points in PointList2D to form a polygon, and the area enclosed by the polygon is a slice image;

    根据所述新的平面坐标系以及PointList2D中的二维坐标点获得所述切面图像中每一个像素点的二维坐标；Obtaining the two-dimensional coordinates of each pixel in the section image according to the new plane coordinate system and the two-dimensional coordinate points in PointList2D;

    根据切面图像中每一个像素点的二维坐标，以及前面所述旋转矩阵M和平移矩阵T，获取切面图像中每一个像素点对应的三维坐标；According to the two-dimensional coordinates of each pixel in the slice image, as well as the aforementioned rotation matrix M and translation matrix T, obtain the three-dimensional coordinates corresponding to each pixel in the slice image;

    以切面图像中每一个像素点对应的三维坐标查询颈动脉模型数据源，获得所述切面图像中每个像素点对应的灰度值。The carotid artery model data source is queried with the three-dimensional coordinates corresponding to each pixel in the slice image, and the gray value corresponding to each pixel in the slice image is obtained.

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