CN103123721B - The method of artifact and device in a kind of real-time minimizing image - Google Patents
The method of artifact and device in a kind of real-time minimizing image Download PDFInfo
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Abstract
The invention provides the method for artifact in a kind of real-time minimizing image, comprise the steps: to gather reference picture: the ultrasonic probe being in treatment position is moved to the position obtaining reference picture, and at the image of described reference picture station acquisition focus as with reference to image, described reference position is the less or artifact-free a certain position of part artifact corresponding with therapy area in the image that ultrasonic probe can be made to gather; Gather treatment image: ultrasonic probe is moved back to described treatment position from described reference position, and gathers the current treatment image of focus; The registration of image and fusion: the treatment image collected and described reference picture are carried out registration and fusion, and export the image after merging, this image is actual therapeutic image.Correspondingly, the device of artifact in a kind of real-time minimizing image is provided.In real-time minimizing image of the present invention, the method for artifact and device can improve the positioning precision of ultrasonic probe to therapy area, thus improve therapeutic efficiency and the result for the treatment of of the operation of ultrasonic guidance.
Description
Technical field
The invention belongs to technical field of image processing, be specifically related to the method for artifact in a kind of real-time minimizing image, and reduce the device of artifact in image in real time.
Background technology
High intensity focused ultrasound (HighIntensityFocusedUltrasound, HIFU) technology is a kind of non-invasive treatment methods, is mainly used in the treatment of entity innocent and malignant tumour in breast cancer, abdominal cavity and pelvic cavity at present.The treatment principle of HIFU technology is, the high strength supersonic focusing on biological tissue is utilized to make the temperature of the tissue within focal regions reach more than 60 degrees Celsius instantaneously, make organizing within focal regions produce coagulation necrosis instantaneously, the tissue simultaneously beyond focal regions is without remarkable damage.Ultrasonic because having real-time, low cost and other advantages and the monitoring means become in the HIFU therapy system of on market about 90%.
In the HIFU therapy system of ultrasonic guidance, require the injury as far as possible reducing normal tissue, so before enforcement treatment, need position and the form of determining focus, in the treatment, the effect of energy real-time monitored treatment, to adjust therapeutic dose and in good time TD, for realizing above-mentioned functions, HIFU therapy system generally adopts coupling probe, and described coupling probe forms by sending the hyperacoustic treatment head for the treatment of and B ultrasonic or color ultrasound video picture probe (hereinafter referred to as ultrasonic probe).
Usually, because described coupling probe is comparatively large, to enter reflection tissue process from the external world in order to reduce ultrasound wave, and the reason such as heat radiation, cumulative in operation, in HIFU therapy system, whole coupling probe is all immersed in the de aerated water medium as couplant.When implementing treatment, the skin of patient's affected area is coupled with described couplant, and by ultrasonic probe imaging, to observe accurate location and the concrete form of patient's focus, the focal regions of accurate locating therapy head is in patient's lesions position simultaneously, thus implements treatment.De aerated water medium is had due to the coupling probe in HIFU therapy system and between the skin of patient's affected area, make ultrasonic probe in coupling probe when imaging, distance body surface is far away, multiple reflections can be there is in the diagnostic ultrasound that therefore ultrasonic probe sends at human body skin and the surface for the treatment of head and ultrasonic probe, ultrasonic probe is made to receive repeated signal, and the echo that produces of described multiple reflections with enter the ultrasonic of inside of human body tissue and mutually mix, thus there is artifact in the ultrasonoscopy (hereinafter referred to as image) causing the ultrasonic probe in HIFU therapy system to gather.
The artifact problem that image in HIFU therapy system exists is that HIFU therapy system brings numerous adverse effect, such as:
1. artifact makes biological tissue's anatomic information can not be reflected accurately on image, adds the risk that may exist in HIFU therapeutic process, the corresponding skill requirement that improve to operating personnel in HIFU therapeutic process;
2. the appearance of artifact makes the too serious tumour of some artifacts to obtain medical treatment, and thus limits disease therapy scope and the crowd of the HIFU therapy system of ultrasonic guidance;
3. the general mode of grey level enhancement that adopts judges to damage with treatment at present, and the existence of artifact may affect the observation of operating personnel to the tissue damage situation of area for treatment in image;
4. artifact problem reduces performance and the safety coefficient of overall HIFU therapy system.
Summary of the invention
Technical matters to be solved by this invention is for the above-mentioned problems in the prior art, a kind of method and the device that can reduce artifact in image are in real time provided, the positioning precision of ultrasonic probe to therapy area can be improved, thus improve therapeutic efficiency and the result for the treatment of of ultrasonic guidance operation.
The technical scheme that solution the technology of the present invention problem adopts is:
In described real-time minimizing image, the method for artifact comprises the steps:
1) reference picture is gathered: the ultrasonic probe being in treatment position is moved to the position obtaining reference picture, and at the image of the station acquisition focus of described reference picture as with reference to image, described reference position is the less or artifact-free a certain position of part artifact corresponding with therapy area in the image that ultrasonic probe can be made to gather, when described treatment position refers to that ultrasonic probe is in this position, operator's energy Real Time Observation to the ultrasonoscopy needing area for treatment, and requires that treatment head focus is in area for treatment;
2) treatment image is gathered: ultrasonic probe is moved back to described treatment position from described reference position, and gathers the current treatment image of focus;
3) registration of image and fusion: the treatment image collected and described reference picture are carried out registration and fusion, and export the image after merging, this image is actual therapeutic image.
Preferably, step 1) in, first judge whether there is more artifact in the image that ultrasonic probe gathers at described treatment position, if artifact is more, then move ultrasonic probe from treatment position along the direction close to skin according to the position of skin line in the image of ultrasonic probe collection, until it is the position of 0 ~ 5cm that described ultrasonic probe moves to the distance of skin, namely ultrasonic probe moves to reference position, stop mobile ultrasonic probe, gather the reference picture of focus in described reference position.
Preferably, step 1) in, the reference picture gathered is the reference picture of several Time Continuous, and the reference picture of these several Time Continuous forms reference image sequence; While the described reference image sequence of collection, gather the physiological signal of patient, and described physiological signal is introduced in reference image sequence;
Step 2) in, while collection treatment image, gather the physiological signal of patient, and described physiological signal is introduced current treatment image.
Further preferably, step 1) in, the process gathering described reference image sequence is as follows: the multiple series of images sequence gathering multiple continuous physiological signal cycle, and corresponding one group of image sequence of each physiological signal cycle, and whether inspection is consistent or basically identical at each group of image sequence of each physiological signal cycle collection, if consistent or basically identical, then one group of image sequence in one of them physiological signal cycle optional is as reference image sequence; If inconsistent or not basically identical, then continue the image sequence gathering the next physiological signal cycle, and its image sequence with the last physiological signal cycle is compared, until the multiple series of images sequence in the multiple continuous physiological signal cycle collected is consistent or basically identical, then select in the multiple series of images sequence in described multiple continuous physiological signal cycle any one group as with reference to image sequence.
Preferably, step 1) in, in described multiple continuous physiological signal cycle, each physiological signal cycle all comprises several different phase places, according to several the different phase places in physiological signal cycle when gathering reference image sequence corresponding to it, namely one in the described physiological signal cycle corresponding from it respectively by the every width reference picture in described reference image sequence different phase place is associated is that physiological signal is introduced reference image sequence;
Step 2) in, according to the phase place that in physiological signal cycle during collection treatment image corresponding to it is different, namely the phase place that described Current therapeutic image is different from the described physiological signal cycle corresponding to it be associated is physiological signal is introduced current treatment image.
Preferably, step 3) in, reference picture in the current treatment image collected and reference image sequence is carried out registration and fusion, and export the image after merging in real time, then continue the treatment image gathering subsequent time, the reference picture in itself and reference image sequence is carried out registration and fusion, and export the image after merging in real time, circulation like this, namely obtains the actual therapeutic image exported continuously.
Preferably, step 1) in, record the locus of ultrasonic probe when ultrasonic probe is in treatment position, record the locus of ultrasonic probe when ultrasonic probe is in reference position;
Step 3) in, the registration of image be fused to:
31) the Current therapeutic image having introduced physiological signal by physiological signal registration Algorithm by described and the described width reference picture introduced in the reference image sequence of physiological signal carry out physiological signal registration, and this reference picture is identical with the phase place of Current therapeutic image, and the reference picture exported in real time after physiological signal registration, again according to the different spatial of ultrasonic probe when gathering reference image sequence and Current therapeutic image, the reference picture after physiological signal registration is completed and Current therapeutic image carries out spatial registration by described, and exported the reference picture after spatial registration,
Or, according to the different spatial of ultrasonic probe when gathering reference image sequence and Current therapeutic image, the Current therapeutic image having introduced physiological signal by described and the described all reference pictures introduced in the reference image sequence of physiological signal carry out spatial registration, and exported the reference image sequence after spatial registration, the Current therapeutic image having introduced physiological signal by physiological signal registration Algorithm by described again and describedly introduced physiological signal and the width reference picture completed in the reference image sequence after spatial registration carries out physiological signal registration, and this reference picture is identical with Current therapeutic image phase, and the reference picture exported after physiological signal registration,
32) reference picture completing physiological signal registration and spatial registration by described and described current treatment image carry out real time fusion, and are exported in real time by the image after merging.
Further preferably, step 31) in, the method that described Current therapeutic image and reference picture carry out spatial registration is: locus when ultrasonic probe being gathered reference picture is converted to the pixel value difference of described reference picture and Current therapeutic image with the coordinate difference of locus when gathering Current therapeutic image, completes the spatial registration of Current therapeutic image and reference picture according to described pixel value difference;
Step 32) in, when merging with treatment figure with reference to image, the part chosen whole in described reference picture or only comprise therapy area carries out real time fusion with described current treatment image, and described fusion method adopts average gray value method or pixel grey scale area method.
Further preferred, step 31) in, described spatial registration method is specially:
Locus setting coordinate when ultrasonic probe being gathered described Current therapeutic image is P1 (x1, y1, z1), and locus setting coordinate when ultrasonic probe being gathered described reference picture is P2 (x2, y2, z2);
Assuming that ultrasonic probe moves in yz plane, then the coordinate difference of x1=x2, P1 point and P2 point is dy=y1-y2, dz=z1-z2;
Assuming that in Current therapeutic image and reference picture, the size of each pixel is m × n, when then Current therapeutic image and reference picture being carried out spatial registration, reference picture is made to move dy/m pixel in y-direction, make reference picture move dz/n pixel in a z-direction, just complete the spatial registration of Current therapeutic image and reference picture;
Step 32) in, described fusion method specifically comprises: choose the part only comprising therapy area in described reference picture when carrying out real time fusion with described current treatment image, the scope chosen described in if certain in described reference picture a bit exceeds, then without the need to merging, directly export the gray-scale value of gray-scale value as fused image of corresponding point in Current therapeutic image.
Preferably, described physiological signal registration Algorithm comprises Signal Pretreatment algorithm and signal registration algorithm, and described Signal Pretreatment algorithm is by Real-time Collection and the physiological signal processed is normalized; Described signal registration algorithm adopts dynamic time convolution algorithm.
Preferably, when the impact that described focus is breathed is larger, a described physiological signal cycle is a breath signal cycle; When described focus is subject to the impact of heartbeat larger, a described physiological signal cycle is a heartbeat signal cycle; When described focus is breathed and the impact of heartbeat simultaneously, and when effect is all larger, a described physiological signal cycle is a breath signal cycle.
A device for artifact in real-time minimizing image, this device comprises: image registration unit, image co-registration unit and display unit,
Image registration unit, for receiving the reference picture that ultrasonic probe gathers in reference position and the treatment image gathered at treatment position, and carries out registration by the reference picture of ultrasonic probe collection and treatment image, and is exported in real time by the reference picture after registration;
Image co-registration unit, for receiving the reference picture after registration that image registration unit exports, carries out real time fusion by the reference picture after described registration and treatment image, and is exported in real time by the image after merging;
Display unit, for receive and show image co-registration unit export image.
Preferably, physiological signal collection unit is also included in this device, the reference picture that described ultrasonic probe gathers is the reference picture of several Time Continuous, the reference picture of these several Time Continuous is any one group of image sequence in the multiple series of images sequence in the multiple consistent or basically identical continuous physiological signal cycle that ultrasonic probe gathers, this image sequence is reference image sequence
Described physiological signal collection unit is used for the physiological signal of Real-time Collection patient, and for receiving the reference picture that ultrasonic probe gathers in reference position and the Current therapeutic image gathered at treatment position, the physiological signal of the patient it gathered again is introduced in reference image sequence that ultrasonic probe gathers in reference position and the Current therapeutic image that treatment position gathers respectively, then the reference image sequence and Current therapeutic image of introducing the physiological signal of patient is exported to image registration unit in real time, a width in the reference image sequence of the physiological signal of patient has been introduced and the described Current therapeutic image having introduced the physiological signal of patient carries out registration by described by it, then image co-registration unit is exported in real time to by completing the reference picture after registration.
Preferably, this device also includes moving cell and control module,
Moving cell, for mobile ultrasonic probe;
Control module, the information for inputting according to outside is carried out instruction moving cell and is moved ultrasonic probe.
Preferably, described image registration unit comprises physiological signal registration module and spatial registration module,
Described control module is also for recording the locus of ultrasonic probe when ultrasonic probe is in treatment position, the locus of ultrasonic probe is recorded when ultrasonic probe is in reference position, and export the locus signal that ultrasonic probe when recorded collection reference image sequence and Current therapeutic image is residing respectively to spatial registration module
Described physiological signal registration module is for receiving the reference image sequence of the physiological signal introducing patient and having introduced the Current therapeutic image of physiological signal of patient, and the width reference picture in the reference image sequence of the described Current therapeutic image having introduced the physiological signal of patient and the physiological signal having introduced patient is carried out physiological signal registration, and this reference picture is identical with the phase place of described Current therapeutic image, export the reference picture after physiological signal registration more in real time to spatial registration module
The reference picture completed after physiological signal registration that described spatial registration module exports for receiving described physiological signal registration module, and according to the different spatial of ultrasonic probe when gathering reference image sequence and Current therapeutic image that control module transmits, complete the reference picture after physiological signal registration and Current therapeutic image carries out spatial registration by described, and export image co-registration unit in real time to by completing the reference picture after spatial registration;
Or, described spatial registration module is used for the different spatial signal of ultrasonic probe when gathering reference image sequence and Current therapeutic image that reception control unit transmits, and accordingly all images in Current therapeutic image and reference image sequence are carried out spatial registration, then the reference image sequence exported in real time after spatial registration is to physiological signal registration module;
The reference image sequence completed after spatial registration that described physiological signal registration module exports for receiving spatial registration module, and the Current therapeutic image having introduced the physiological signal of patient by described and the described width reference picture introduced in the reference image sequence of the physiological signal of patient carry out physiological signal registration, and this reference picture is identical with the phase place of described Current therapeutic image, and export the reference picture after registration to image co-registration unit in real time.
Preferably, the coordinate difference of locus when described spatial registration module is used for locus when ultrasonic probe being gathered reference picture and gathers Current therapeutic image is converted to the pixel value difference of described reference picture and Current therapeutic image, completes the spatial registration of Current therapeutic image and reference picture according to described pixel value difference; Described image co-registration unit carries out real time fusion for the whole of the reference picture after choosing described registration or the part that only comprises therapy area with described current treatment image.
In the image that in real-time minimizing image of the present invention, the method for artifact exports after treatment image and reference picture are carried out registration and merge, artifact obviously reduces, shown by test, adopt the method for the invention the artifact in the image of interested for doctor region (as therapy area) all can be eliminated, the overall artifact in general image is reduced more than 70%; Improve the marginal sharpness of output image simultaneously, the information of patient treatment target area is obtained on image reflect more accurately, thus improve the positioning precision of ultrasonic probe to therapy area, also improve therapeutic efficiency and the result for the treatment of of the treatment operation of ultrasonic guidance, in described real-time minimizing image, the method for artifact is applied to the risk that can reduce operation in HIFU operation, thus expands the range of application of HIFU therapy system.
Accompanying drawing explanation
Fig. 1 is the process flow diagram of the method reducing artifact in image in the embodiment of the present invention 1 in real time;
Fig. 2 is the structural representation of the device reducing artifact in image in the embodiment of the present invention 1 in real time;
Fig. 3 is the process flow diagram of the method reducing artifact in image in the embodiment of the present invention 2 in real time.
Embodiment
For making those skilled in the art understand technical scheme of the present invention better, below in conjunction with the drawings and specific embodiments the method for artifact in image is reduced in real time to the present invention and device is described in further detail.
In described real-time minimizing image, the method for artifact comprises the steps:
1) reference picture is gathered: ultrasonic probe is moved to reference position from treatment position, and the image gathering focus in described reference position is as with reference to image, described reference position is the less or artifact-free a certain position of part artifact corresponding with therapy area in the image that ultrasonic probe can be made to gather;
2) treatment image is gathered: ultrasonic probe is moved back to described treatment position from described reference position, and gathers the current treatment image of focus;
3) registration of image and fusion: the treatment image collected and described reference picture are carried out registration and fusion, and export the image after merging, this image is actual therapeutic image.
In described real-time minimizing image, the device of artifact comprises: image registration unit, image co-registration unit and display unit,
Image registration unit, for receiving the reference picture that ultrasonic probe gathers in reference position and the treatment image gathered at treatment position, and the reference picture of ultrasonic probe collection and treatment image are carried out registration, and export the reference picture after registration to image co-registration unit in real time;
Image co-registration unit, for receiving the reference picture after registration that image registration unit exports, carries out real time fusion by the reference picture after described registration and treatment image, and exports the image after merging to display unit in real time;
Display unit, for receive and show image co-registration unit export image.
Embodiment 1:
In the present embodiment, in described real-time minimizing image, the method for artifact comprises:
1) reference picture is gathered:
Ultrasonic probe is moved to the position the image gathering current affected area that are suitable for treatment, when described treatment position refers to that ultrasonic probe is in this position, operator's energy Real Time Observation is to the ultrasonoscopy needing area for treatment, and require that treatment head focus is in area for treatment, record locus when ultrasonic probe is in treatment position simultaneously, first judge whether there is more artifact in the image of the affected area that ultrasonic probe gathers at described treatment position, if artifact is more, then according to skin line in the image of ultrasonic probe collection, (human skin shows as a curve on ultrasonoscopy tangent plane, described curve and skin line) position move ultrasonic probe from treatment position along close to the direction of skin, until described ultrasonic probe moves to the distance of skin when being the position of 0 ~ 5cm, in the image that ultrasonic probe gathers, the part artifact corresponding with therapy area is less or without artifact, picture quality is higher, stop mobile ultrasonic probe this moment, and the position setting ultrasonic probe place is this moment the reference position obtaining reference picture, record locus when ultrasonic probe is in the position of described reference picture simultaneously, the reference picture of affected area is gathered in described reference position.
Ultrasonic probe exist in the image of the affected area that described treatment position gathers more artifact be because: ultrasonic probe when treatment position distance body surface have certain distance, therefore the ultrasound wave that sends of ultrasonic probe is at ultrasonic probe, multiple reflections is there is between human body and treatment head, ultrasonic probe is made to receive repeated signal, more artifact is there is in the image causing it to collect, have a strong impact on picture quality, when ultrasonic probe moves along the direction close to skin, the scope of described ultrasonic reflections reduces gradually, artifact in its image collected also reduces gradually, when ultrasonic probe is close to skin, the situation of ultrasound wave multiple reflections is eliminated, artifact in the image that ultrasonic probe collects disappears.
When described ultrasonic probe is close to skin, its in the interested region of doctor (as therapy area, the i.e. region of patients needing treatment, be generally in internal organs pathology and the position of safe treatment can be implemented) artifact in the image that collects disappears, and artifact also may be there is in the interested region of non-physician, but because this artifact does not affect treatment, can ignore.Gather the less or artifact-free image of described artifact and carry out registration and fusion for popping one's head in subsequent ultrasonic at the treatment image for the treatment of position collection as with reference to image, effectively can reduce artifact in the image exported after merging.
The reference picture gathered in described reference position is the reference picture of several Time Continuous, and the reference picture of these several Time Continuous forms reference image sequence.Concrete, because during treatment, unstable phenomenon may appear in the sign of patient, as being short of breath or palpitating speed etc., cause its cycle at the physiological signal of Different periods different, therefore the multiple series of images sequence gathering multiple continuous physiological signal cycle is needed, and corresponding one group of image sequence of each physiological signal cycle, and whether inspection is consistent or basically identical at each group of image sequence of each physiological signal cycle collection, if consistent or basically identical, then one group of image sequence in one of them physiological signal cycle optional is as reference image sequence; If inconsistent or not basically identical, then continue the image sequence gathering the next physiological signal cycle, and its image sequence with the last physiological signal cycle is compared, until the multiple series of images sequence in the multiple continuous physiological signal cycle collected is consistent or basically identical, then select in the multiple series of images sequence in described multiple continuous physiological signal cycle any one group as with reference to image sequence.
While the described reference image sequence of collection, gather the physiological signal of patient, and described physiological signal is introduced in reference image sequence.In described multiple continuous physiological signal cycle, each physiological signal cycle all comprises several different phase places, according to several the different phase places in physiological signal cycle when gathering reference image sequence corresponding to it, namely one in the described physiological signal cycle corresponding from it respectively by the every width reference picture in described reference image sequence different phase place is associated is that physiological signal is introduced reference image sequence.
2) treatment image is gathered:
Ultrasonic probe is moved back to described treatment position from described reference position, and gathers the current treatment image of focus.While gathering current treatment image, gather the physiological signal of patient, and described physiological signal is introduced current treatment image.According to the phase place that in physiological signal cycle during collection treatment image corresponding to it is different, namely the phase place that described Current therapeutic image is different from the described physiological signal cycle corresponding to it be associated is physiological signal is introduced current treatment image.
3) registration of image and fusion:
Reference picture in the current treatment image collected and described reference image sequence is carried out registration and fusion, and export the image after merging in real time, this image is current actual therapeutic image, then the treatment image gathering subsequent time is continued, reference picture in itself and reference image sequence is carried out registration and fusion, and export the image after merging in real time, so circulate, namely obtain the actual therapeutic image exported continuously.
By the reason that the reference picture in described Current therapeutic image and reference image sequence carries out physiological signal registration be:
Because patient's focus (internal organs in therapy area) can produce the real-time deformation in cycle because of the impact of the physiological signal factors such as breathing or heartbeat, therefore ultrasonic probe may be in the out of phase place in the physiological signal cycle when gathering reference picture and Current therapeutic image in therapy area respectively, make to occur deviation or distortion between the reference picture that collects and Current therapeutic image, the artifact in the image exported after thus cannot carrying out real time fusion to reduce merging with reference to image and Current therapeutic image.
For solving the problem, physiological signal need be introduced respectively in reference image sequence and Current therapeutic image, make a phase place in all corresponding physiological signal cycle of each the width reference picture in Current therapeutic image and reference image sequence, by phase matching, the deviation between reference picture and Current therapeutic image or distortion that cause because of the impact of the physiological signal factors such as breathing or heartbeat effectively can be eliminated.
By the reason that the reference picture in described Current therapeutic image and reference image sequence carries out spatial registration be:
When gathering described reference picture and Current therapeutic image, the locus of ultrasonic probe is different, makes the reference picture gathered cannot be completely corresponding with Current therapeutic image, location deviation, now need the spatial registration carrying out reference picture and Current therapeutic image, to eliminate described position deviation.
Concrete, the method that the reference picture in described current treatment image and reference image sequence carries out registration is:
The Current therapeutic image having introduced physiological signal by described by physiological signal registration Algorithm and the described width reference picture introduced in the reference image sequence of physiological signal carry out physiological signal registration, and this reference picture is identical with the phase place of Current therapeutic image, and the reference picture exported in real time after physiological signal registration, again according to the different spatial of ultrasonic probe when gathering reference image sequence and Current therapeutic image, the reference picture after physiological signal registration is completed and Current therapeutic image carries out spatial registration by described, and exported the reference picture after spatial registration,
Or, according to the different spatial of ultrasonic probe when gathering reference image sequence and Current therapeutic image, the Current therapeutic image having introduced physiological signal by described and the described all reference pictures introduced in the reference image sequence of physiological signal carry out spatial registration, and exported the reference image sequence after spatial registration, the Current therapeutic image having introduced physiological signal by physiological signal registration Algorithm by described again and describedly introduced physiological signal and the width reference picture completed in the reference image sequence after spatial registration carries out physiological signal registration, and this reference picture is identical with Current therapeutic image phase, and the reference picture exported after physiological signal registration.
Wherein, described physiological signal registration Algorithm comprises Signal Pretreatment algorithm and signal registration algorithm, and described Signal Pretreatment algorithm is by Real-time Collection and the physiological signal processed is normalized; Described signal registration algorithm adopts dynamic time convolution (DTW) algorithm.
Wherein, described Current therapeutic image and reference picture carry out the method for spatial registration and are:
Locus when ultrasonic probe being gathered reference picture is converted to the pixel value difference of described reference picture and Current therapeutic image with the coordinate difference of locus when gathering Current therapeutic image, completes the spatial registration of Current therapeutic image and reference picture according to described pixel value difference.
Described spatial registration method is specially:
Locus setting coordinate when ultrasonic probe being gathered described Current therapeutic image is P1 (x1, y1, z1), and locus setting coordinate when ultrasonic probe being gathered described reference picture is P2 (x2, y2, z2); Because ultrasonic probe only need move when gathering reference picture and Current therapeutic image in a plane, assuming that ultrasonic probe moves in yz plane, then the coordinate difference of x1=x2, P1 point and P2 point is dy=y1-y2, dz=z1-z2; Assuming that in Current therapeutic image and reference picture, the size of each pixel is m × n, when then Current therapeutic image and reference picture being carried out spatial registration, reference picture is made to move dy/m pixel in y-direction, make reference picture move dz/n pixel in a z-direction, just complete the spatial registration of Current therapeutic image and reference picture.Ultrasonic probe need when xz, xy planar movement in like manner.
Then, the reference picture completing physiological signal registration and spatial registration by described and described current treatment image carry out real time fusion, and are exported in real time by the image after merging.
When merging with treatment figure with reference to image, the part chosen whole in described reference picture or only comprise therapy area carries out real time fusion with described current treatment image.Choose the part only comprising therapy area in described reference picture when carrying out real time fusion with described current treatment image, the scope chosen described in if certain in described reference picture a bit exceeds, then without the need to merging, directly export the gray-scale value of gray-scale value as fused image of corresponding point in Current therapeutic image.
In the present embodiment, described fusion method adopts average gray value method or pixel grey scale area method.
Described average gray value method is specially:
Assuming that the gray-scale value of a certain pixel P2 in described reference picture is g2, the gray-scale value of pixel P1 corresponding with P2 point in reference picture in described Current therapeutic image is g1, then the gray-scale value of corresponding with P1, P2 point in fused image pixel P3 is g3=(g1+g2)/2.
Described pixel grey scale area method is specially:
Assuming that the gray-scale value of a certain pixel P2 in described reference picture is g2, the gray-scale value of pixel P1 corresponding with P2 point in reference picture in described Current therapeutic image is g1, then the gray-scale value of corresponding with P1, P2 point in fused image pixel P3 is g3=sqrt (g1*g2).
Breathed according to patient's focus and/or the impact of heartbeat, when the impact that described focus is breathed is larger, a described physiological signal cycle is a breath signal cycle.In the present embodiment, the impact that patient's focus is breathed is comparatively large, thus gathers the some groups of image sequences in several continuous print breath signal cycles, selects one as reference image sequence.As shown in Figure 1, in described real-time minimizing image, the concrete steps of the method for artifact are as follows:
S101. moving ultrasonic probe to treatment position gathers the image of current affected area, records the locus of now ultrasonic probe simultaneously;
S102. judge whether there is more artifact in the treatment image of current ultrasonic probe acquires, in this way, perform s103, as no, perform s113;
S103. detect the reference image sequence of whether preserving and also having introduced patient respiratory signal containing this artifact region, in this way, perform s106, as no, perform s104;
S104. the position of skin line in the image of current ultrasonic probe acquires is automatically detected, ultrasonic probe is moved along the direction close to skin in position according to described skin line, until the artifact in the image that collects of described ultrasonic probe is less or without while being the position of 0 ~ 5cm (ultrasonic probe moves to the distance of skin) during artifact, stop mobile ultrasonic probe, and the position setting ultrasonic probe place is this moment reference position, record the locus of ultrasonic probe simultaneously, the some groups of image sequences of several continuous respiratory cycles are gathered in described reference position, select one group of image sequence of one of them respiratory cycle as reference image sequence,
S105., while the described reference image sequence of collection, gather the breath signal of patient, and breath signal is introduced reference image sequence, described in preservation, introduced the reference image sequence of breath signal;
S106. according to the locus of s101 record, ultrasonic probe is moved to treatment position from reference position, and gather current treatment image;
S107., while gathering current treatment image, gather the breath signal of patient, and breath signal is introduced current treatment image;
S108. the reference image sequence of breath signal has been introduced described in loading, the current treatment image having introduced breath signal by described and the described width reference picture introduced in the reference image sequence of breath signal carry out breath signal registration, and this reference picture is identical with the phase place of described current treatment image, and the reference picture after completing physiological signal registration is exported in real time;
S109. according to the different spatial of ultrasonic probe when gathering reference picture and treatment image, the reference picture completing physiological signal registration exported in real time by s108 and described current treatment image carry out spatial registration, and are exported in real time by the reference picture after spatial registration;
S110. the reference picture completing physiological signal registration and spatial registration exported in real time by s109 and described current treatment image carry out real time fusion, and are exported in real time by the image after described fusion;
S111. judge in the treatment image of subsequent time ultrasonic probe collection, whether artifact obviously reduces, in this way, perform s113, as no, perform s112;
S112. gather the treatment image of described subsequent time, gather the breath signal of patient simultaneously, and breath signal is introduced described treatment image, then perform s108;
S113. the treatment image that ultrasonic probe gathers is exported in real time.
The present embodiment also provides the device of artifact in a kind of real-time minimizing image, and as shown in Figure 2, this device comprises: moving cell, physiological signal collection unit, image registration unit, control module, image co-registration unit and display unit.
Moving cell, for mobile ultrasonic probe.
Physiological signal collection unit, for the physiological signal of Real-time Collection patient, and for receiving the reference picture that ultrasonic probe gathers in reference position and the Current therapeutic image gathered at treatment position, the physiological signal of the patient it gathered again is introduced in reference image sequence that ultrasonic probe gathers in reference position and the Current therapeutic image that treatment position gathers respectively, then the reference image sequence and Current therapeutic image of introducing the physiological signal of patient is exported to image registration unit in real time, a width in the reference image sequence of the physiological signal of patient has been introduced and the described Current therapeutic image having introduced the physiological signal of patient carries out registration by described by it.Wherein, the reference picture that described ultrasonic probe gathers is the reference picture of several Time Continuous, the reference picture of these several Time Continuous is any one group of image sequence in the multiple series of images sequence in the multiple consistent or basically identical continuous physiological signal cycle that ultrasonic probe gathers, and this image sequence is reference image sequence.
In the present embodiment, described physiological signal collection unit comprises: physiological signal sensor, amplifier, analog to digital converter and single-chip microcomputer.Described physiological signal sensor is used for real-time detection and gathers physiological signal, then transmits it to amplifier; Described amplifier is used for amplifying the physiological signal of described collection, is then exported to analog to digital converter; Described analog to digital converter is used for the physiological signal after described amplification to be converted to digital signal, is then exported to single-chip microcomputer; Described single-chip microcomputer is used for described digital data transmission to computing machine.By computing machine, the described physiological signal having transferred digital signal to is introduced reference image sequence or Current therapeutic image.
Described physiological signal collection unit is existing product, wherein, physiological signal sensor comprises breath signal sensor and pulse signal sensor, two kinds of sensors can select arbitrarily can stable detection to described two kinds of signals can, such as breath signal sensor can adopt JKY/314959 type, and pulse signal sensor can adopt DT & SDT type MEAS piezoelectric film sensor.
Image registration unit, for receiving the reference picture that ultrasonic probe gathers in reference position and the treatment image gathered at treatment position, and the reference picture of ultrasonic probe collection and treatment image are carried out registration, and export the reference picture after registration to image co-registration unit in real time.
Wherein, described image registration unit comprises physiological signal registration module and spatial registration module.
Described physiological signal registration module is for receiving the reference image sequence of the physiological signal introducing patient and having introduced the Current therapeutic image of physiological signal of patient, and the width reference picture in the reference image sequence of the described Current therapeutic image having introduced the physiological signal of patient and the physiological signal having introduced patient is carried out physiological signal registration, and this reference picture is identical with the phase place of described Current therapeutic image, export the reference picture after physiological signal registration more in real time to spatial registration module
The reference picture completed after physiological signal registration that described spatial registration module exports for receiving described physiological signal registration module, and according to the different spatial of ultrasonic probe when gathering reference image sequence and Current therapeutic image that control module transmits, complete the reference picture after physiological signal registration and Current therapeutic image carries out spatial registration by described, and export image co-registration unit in real time to by completing the reference picture after spatial registration;
Or, described spatial registration module is used for the different spatial signal of ultrasonic probe when gathering reference image sequence and Current therapeutic image that reception control unit transmits, and accordingly all images in Current therapeutic image and reference image sequence are carried out spatial registration, then the reference image sequence exported in real time after spatial registration is to physiological signal registration module;
The reference image sequence completed after spatial registration that described physiological signal registration module exports for receiving spatial registration module, and the Current therapeutic image having introduced the physiological signal of patient by described and the described width reference picture introduced in the reference image sequence of the physiological signal of patient carry out physiological signal registration, and this reference picture is identical with the phase place of described Current therapeutic image, and export the reference picture after registration to image co-registration unit in real time.
Concrete, the coordinate difference of locus when described spatial registration module is used for locus when ultrasonic probe being gathered reference picture and gathers Current therapeutic image is converted to the pixel value difference of described reference picture and Current therapeutic image, completes the spatial registration of Current therapeutic image and reference picture according to described pixel value difference; Described image co-registration unit carries out real time fusion for the whole of the reference picture after choosing described registration or the part that only comprises therapy area with described current treatment image.
Control module, the information for inputting according to outside is carried out instruction moving cell and is moved ultrasonic probe; Also for recording the locus of ultrasonic probe when ultrasonic probe is in treatment position, record the locus of ultrasonic probe when ultrasonic probe is in reference position, and export the locus signal that ultrasonic probe when recorded collection reference image sequence and Current therapeutic image is residing respectively to spatial registration module.
Image co-registration unit, for receiving the reference picture after registration that image registration unit exports, carries out real time fusion by the reference picture after described registration and treatment image, and exports the image after merging to display unit in real time.
Display unit, for receive and show image co-registration unit export image.
Embodiment 2:
Breathed according to patient's focus and/or the impact of heartbeat, when described focus is larger by the impact of heartbeat, a described physiological signal cycle is a heartbeat signal cycle.In the present embodiment, patient's focus is comparatively large by the impact of heartbeat, and because the heartbeat of human body is identical with the frequency of pulse, pulse cycle also can wait and be all heart beat cycle, thus gather the some groups of image sequences in several continuous print pulse signal cycles, select one as reference image sequence.As shown in Figure 3, in described real-time minimizing image, the concrete steps of the method for artifact are as follows:
S201. moving ultrasonic probe to treatment position gathers the image of current affected area, records the locus of now ultrasonic probe simultaneously;
S202. judge whether there is more artifact in the treatment image of current ultrasonic probe acquires, in this way, perform s103, as no, perform s113;
S203. detect the reference image sequence of whether preserving and also having introduced patient pulse's signal containing this artifact region, in this way, perform s106, as no, perform s104;
S204. the position of skin line in the image of current ultrasonic probe acquires is automatically detected, ultrasonic probe is moved along the direction close to skin in position according to described skin line, until the artifact in the image that collects of described ultrasonic probe is less or without while being the position of 0 ~ 5cm (ultrasonic probe moves to the distance of skin) during artifact, stop mobile ultrasonic probe, and the position setting ultrasonic probe place is this moment reference position, record the locus of ultrasonic probe simultaneously, some groups of image sequences of several continuous pulse cycles are gathered in described reference position, select one group of image sequence of one of them pulse cycle as reference image sequence,
S205., while the described reference image sequence of collection, gather the pulse signal of patient, and pulse signal is introduced reference image sequence, described in maintenance, introduced the reference image sequence of pulse signal;
S206. according to the locus of s101 record, ultrasonic probe is moved to treatment position from reference position, and gather current treatment image;
S207., while collection Current therapeutic image, gather the pulse signal of patient, and pulse signal is introduced current treatment image;
S208. the reference image sequence of breath signal has been introduced described in loading, according to the different spatial of ultrasonic probe when gathering reference picture and treatment image, all images in the Current therapeutic image having introduced pulse signal by described and described reference image sequence carry out spatial registration, and export completing the reference image sequence after spatial registration in real time;
S209. the width reference picture in the reference image sequence that the Current therapeutic image having introduced pulse signal by described and s108 export in real time carries out pulse signal registration, and this reference picture is identical with the phase place of described current treatment image, and the reference picture after completing physiological signal registration is exported in real time;
S210. the reference picture completing physiological signal registration and spatial registration exported in real time by s109 and described current treatment image carry out real time fusion, and are exported in real time by the image after described fusion;
S211. judge in the treatment image of subsequent time ultrasonic probe collection, whether artifact obviously reduces, in this way, perform s113, as no, perform s112;
S212. gather the treatment image of described subsequent time, gather the pulse signal of patient simultaneously, and pulse signal is introduced treatment image, then perform s109;
S213. the treatment image that ultrasonic probe gathers is exported in real time.
In the real-time minimizing image that the present embodiment proposes, the device of artifact is identical with embodiment 1, repeats no more here.
Embodiment 3:
Breathed according to patient's focus and/or the impact of heartbeat, when described focus is breathed and the impact of heartbeat simultaneously, and effect all larger time, described physiological signal cycle adopts the cycle that among breath signal cycle and heartbeat signal cycle, the time is longer.In the present embodiment, patient's focus is breathed and the impact of heartbeat simultaneously, and effect is all larger, because the time in a breath signal cycle is longer than the time in a heartbeat signal cycle, therefore adopt a breath signal cycle as a physiological signal cycle, namely gather the some groups of image sequences in several continuous print breath signal cycles, select one as reference image sequence.
In the real-time minimizing image that the present embodiment proposes artifact method and to reduce in real time the device of artifact in image all identical with embodiment 1, repeat no more here.
Be understandable that, the illustrative embodiments that above embodiment is only used to principle of the present invention is described and adopts, but the present invention is not limited thereto.For those skilled in the art, without departing from the spirit and substance in the present invention, can make various modification and improvement, these modification and improvement are also considered as protection scope of the present invention.
Claims (11)
1. reduce a method for artifact in image in real time, comprise the steps:
1) reference picture is gathered: the ultrasonic probe being in treatment position is moved to the position obtaining reference picture, and the image being gathered focus in the position of described reference picture by ultrasonic probe is as with reference to image, the position of described reference picture is the less or artifact-free a certain position of part artifact corresponding with therapy area in the image that ultrasonic probe can be made to gather, the locus of ultrasonic probe is recorded when ultrasonic probe is in treatment position, the locus of ultrasonic probe is recorded when ultrasonic probe is in the position of reference picture, the reference picture gathered is the reference picture of several Time Continuous, the reference picture of these several Time Continuous forms reference image sequence, while the described reference image sequence of collection, gather the physiological signal of patient, and described physiological signal is introduced in described reference image sequence, make a phase place in all corresponding physiological signal cycle of each the width reference picture in reference image sequence,
2) treatment image is gathered: ultrasonic probe is moved back to described treatment position from the position of described reference picture, and gather focus Current therapeutic image by ultrasonic probe, while collection treatment image, gather the physiological signal of patient, and described physiological signal is introduced Current therapeutic image, make a phase place in the Current therapeutic image corresponding physiological signal cycle;
3) registration of image and fusion: the treatment image collected and described reference picture are carried out registration and fusion, and export the image after merging, this image is actual therapeutic image, wherein, the treatment image collected and described reference picture is carried out registration and fusion comprises:
31) by physiological signal registration Algorithm, the Current therapeutic image and the width reference picture introduced in the reference image sequence of physiological signal of introducing physiological signal are carried out physiological signal registration, and this reference picture is identical with the phase place of Current therapeutic image, and the reference picture exported in real time after physiological signal registration, again according to the different spatial of ultrasonic probe when gathering reference image sequence and Current therapeutic image, the reference picture after physiological signal registration is completed and Current therapeutic image carries out spatial registration by described, and exported the reference picture after spatial registration,
Or, according to the different spatial of ultrasonic probe when gathering reference image sequence and Current therapeutic image, the Current therapeutic image and all reference pictures introduced in the reference image sequence of physiological signal of introducing physiological signal are carried out spatial registration, and exported the reference image sequence after spatial registration, the Current therapeutic image having introduced physiological signal by physiological signal registration Algorithm by described again and introduced physiological signal and the width reference picture completed in the reference image sequence after spatial registration carries out physiological signal registration, and this reference picture is identical with Current therapeutic image phase, and the reference picture exported after physiological signal registration,
32) reference picture and described Current therapeutic image that complete physiological signal registration and spatial registration are carried out real time fusion, and the image after merging is exported in real time.
2. method according to claim 1, it is characterized in that, step 1) in, first judge whether there is more artifact in the image that ultrasonic probe gathers at described treatment position, if artifact is more, then move ultrasonic probe from treatment position along the direction close to skin according to the position of skin line in the image of ultrasonic probe collection, until it is the position of 0 ~ 5cm that described ultrasonic probe moves to the distance of skin, namely ultrasonic probe moves to the position of reference picture, stop mobile ultrasonic probe, at the reference picture of the station acquisition focus of described reference picture.
3. method according to claim 1, it is characterized in that, step 1) in, the process gathering described reference image sequence is as follows: the multiple series of images sequence gathering multiple continuous physiological signal cycle, and corresponding one group of image sequence of each physiological signal cycle, and whether inspection is consistent at each group of image sequence of each physiological signal cycle collection, if unanimously, then one group of image sequence in one of them physiological signal cycle optional is as reference image sequence; If inconsistent, then continue the image sequence gathering the next physiological signal cycle, and its image sequence with the last physiological signal cycle is compared, until the multiple series of images sequence in the multiple continuous physiological signal cycle collected is consistent, then select in the multiple series of images sequence in described multiple continuous physiological signal cycle any one group as with reference to image sequence.
4. method according to claim 3, is characterized in that,
Step 1) in, in described multiple continuous physiological signal cycle, each physiological signal cycle all comprises several different phase places, according to several the different phase places in physiological signal cycle when gathering reference image sequence corresponding to it, namely one in the described physiological signal cycle corresponding from it respectively by the every width reference picture in described reference image sequence different phase place is associated is that physiological signal is introduced reference image sequence;
Step 2) in, according to the phase place that in physiological signal cycle during collection treatment image corresponding to it is different, namely the phase place that described Current therapeutic image is different from the described physiological signal cycle corresponding to it be associated is that physiological signal is introduced Current therapeutic image.
5. method according to claim 4, it is characterized in that, step 3) in, reference picture in the Current therapeutic image collected and reference image sequence is carried out registration and fusion, and exports the image after merging in real time, then continue the treatment image gathering subsequent time, reference picture in itself and reference image sequence is carried out registration and fusion, and export the image after merging in real time, so circulate, namely obtain the actual therapeutic image exported continuously.
6. method according to claim 1, it is characterized in that, step 31) in, the method that described Current therapeutic image and reference picture carry out spatial registration is: locus when ultrasonic probe being gathered reference picture is converted to the pixel value difference of described reference picture and Current therapeutic image with the coordinate difference of locus when gathering Current therapeutic image, completes the spatial registration of Current therapeutic image and reference picture according to described pixel value difference;
Step 32) in, when merging with treatment figure with reference to image, the part chosen whole in described reference picture or only comprise therapy area carries out real time fusion with described Current therapeutic image, and fusion method adopts average gray value method or pixel grey scale area method.
7. method according to claim 6, is characterized in that, step 31) in, spatial registration method is specially:
Locus setting coordinate when ultrasonic probe being gathered described Current therapeutic image is P1 (x1, y1, z1), and locus setting coordinate when ultrasonic probe being gathered described reference picture is P2 (x2, y2, z2);
Assuming that ultrasonic probe moves in yz plane, then the coordinate difference of x1=x2, P1 point and P2 point is dy=y1-y2, dz=z1-z2;
Assuming that in Current therapeutic image and reference picture, the size of each pixel is m × n, when then Current therapeutic image and reference picture being carried out spatial registration, reference picture is made to move dy/m pixel in y-direction, make reference picture move dz/n pixel in a z-direction, just complete the spatial registration of Current therapeutic image and reference picture;
Step 32) in, described fusion method specifically comprises: choose the part only comprising therapy area in described reference picture when carrying out real time fusion with described Current therapeutic image, if certain in described reference picture a bit exceeds the scope chosen, then without the need to merging, directly export the gray-scale value of gray-scale value as fused image of corresponding point in Current therapeutic image.
8. method according to claim 1, is characterized in that, described physiological signal registration Algorithm comprises Signal Pretreatment algorithm and signal registration algorithm, and described Signal Pretreatment algorithm is by Real-time Collection and the physiological signal processed is normalized; Described signal registration algorithm adopts dynamic time convolution algorithm.
9. the method according to any one of claim 1-8, is characterized in that, when the impact that described focus is breathed is larger, a described physiological signal cycle is a breath signal cycle; When described focus is subject to the impact of heartbeat larger, a described physiological signal cycle is a heartbeat signal cycle; When described focus is breathed and the impact of heartbeat simultaneously, and when effect is all larger, a described physiological signal cycle is a breath signal cycle.
10. reduce a device for artifact in image in real time, it is characterized in that, this device comprises: image registration unit, image co-registration unit and display unit,
Image registration unit, for receiving the reference picture that ultrasonic probe gathers in reference position and the treatment image gathered at treatment position, and carries out registration by the reference picture of ultrasonic probe collection and treatment image, and is exported in real time by the reference picture after registration; Wherein, described reference position is that in the image that gathers of ultrasonic probe, the part artifact corresponding with therapy area is less or without the position at ultrasonic probe place during artifact;
Image co-registration unit, for receiving the reference picture after registration that image registration unit exports, carries out real time fusion by the reference picture after described registration and treatment image, and is exported in real time by the image after merging;
Display unit, for receive and show image co-registration unit export image;
Physiological signal collection unit is also included in this device, the reference picture that described ultrasonic probe gathers is the reference picture of several Time Continuous, the reference picture of these several Time Continuous is any one group of image sequence in the multiple series of images sequence in multiple continuous physiological signal cycles unanimously that ultrasonic probe gathers, this image sequence is reference image sequence
Described physiological signal collection unit is used for the physiological signal of Real-time Collection patient, and for receiving the reference picture that ultrasonic probe gathers in reference position and the Current therapeutic image gathered at treatment position, the physiological signal of the patient it gathered again is introduced in reference image sequence that ultrasonic probe gathers in reference position and the Current therapeutic image that treatment position gathers respectively, then the reference image sequence and Current therapeutic image of introducing the physiological signal of patient is exported to image registration unit in real time, by it, described Current therapeutic image having introduced the width in the reference image sequence of the physiological signal of patient and the physiological signal of having introduced patient is carried out registration, then image co-registration unit is exported in real time to by completing the reference picture after registration,
This device also includes moving cell and control module,
Moving cell, for mobile ultrasonic probe;
Control module, the information for inputting according to outside is carried out instruction moving cell and is moved ultrasonic probe;
Described image registration unit comprises physiological signal registration module and spatial registration module,
Described control module is also for recording the locus of ultrasonic probe when ultrasonic probe is in treatment position, the locus of ultrasonic probe is recorded when ultrasonic probe is in reference position, and export the locus signal that ultrasonic probe when recorded collection reference image sequence and Current therapeutic image is residing respectively to spatial registration module
Described physiological signal registration module is for receiving the reference image sequence of the physiological signal introducing patient and having introduced the Current therapeutic image of physiological signal of patient, and the width reference picture in the reference image sequence of the described Current therapeutic image having introduced the physiological signal of patient and the physiological signal having introduced patient is carried out physiological signal registration, and this reference picture is identical with the phase place of described Current therapeutic image, export the reference picture after physiological signal registration more in real time to spatial registration module
The reference picture completed after physiological signal registration that described spatial registration module exports for receiving described physiological signal registration module, and according to the different spatial of ultrasonic probe when gathering reference image sequence and Current therapeutic image that control module transmits, complete the reference picture after physiological signal registration and Current therapeutic image carries out spatial registration by described, and export image co-registration unit in real time to by completing the reference picture after spatial registration;
Or, described spatial registration module is used for the different spatial signal of ultrasonic probe when gathering reference image sequence and Current therapeutic image that reception control unit transmits, and accordingly all images in Current therapeutic image and reference image sequence are carried out spatial registration, then the reference image sequence exported in real time after spatial registration is to physiological signal registration module;
The reference image sequence completed after spatial registration that described physiological signal registration module exports for receiving spatial registration module, and the Current therapeutic image having introduced the physiological signal of patient by described and the described width reference picture introduced in the reference image sequence of the physiological signal of patient carry out physiological signal registration, and this reference picture is identical with the phase place of described Current therapeutic image, and export the reference picture after registration to image co-registration unit in real time.
11. devices according to claim 10, it is characterized in that, the coordinate difference of locus when described spatial registration module is used for locus when ultrasonic probe being gathered reference picture and gathers Current therapeutic image is converted to the pixel value difference of described reference picture and Current therapeutic image, completes the spatial registration of Current therapeutic image and reference picture according to described pixel value difference; Described image co-registration unit carries out real time fusion for the whole of the reference picture after choosing described registration or the part that only comprises therapy area with described Current therapeutic image.
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| EP2886160A1 (en) * | 2013-12-23 | 2015-06-24 | Theraclion SA | Device for treatment of a tissue and method of preparation of an image of an image-guided device for treatment of a tissue |
| JP6282942B2 (en) * | 2014-06-18 | 2018-02-21 | キヤノンメディカルシステムズ株式会社 | Ultrasonic diagnostic apparatus, image processing apparatus, and image processing program |
| US11096671B2 (en) | 2015-09-10 | 2021-08-24 | Siemens Medical Solutions Usa, Inc. | Sparkle artifact detection in ultrasound color flow |
| DE102016205718A1 (en) * | 2016-04-06 | 2017-10-12 | Siemens Healthcare Gmbh | Method for displaying medical image data |
| US11334974B2 (en) * | 2017-08-16 | 2022-05-17 | Koninklijke Philips N.V. | Systems, methods, and apparatuses for image artifact cancellation |
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