CN108447018B - Method for generating ultrasonic panoramic image and ultrasonic device for generating panoramic image - Google Patents
Method for generating ultrasonic panoramic image and ultrasonic device for generating panoramic image Download PDFInfo
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Abstract
The method for generating ultrasonic panoramic image and the ultrasonic device capable of generating panoramic image provided by the invention are characterized in that the Doppler signal error of the color images corresponding to the two black and white images is further compared after the sufficient overlapping area between the two black and white images is ensured by analyzing and comparing the degree of the image overlapping area between the captured black and white images, so that a plurality of black and white characteristic images and a plurality of color characteristic images are respectively determined in the captured black and white images and the plurality of color images, the plurality of black and white characteristic images and the plurality of color characteristic images are respectively spliced into the black and white panoramic image and the color panoramic image by using a splicing algorithm, finally the color panoramic image is superposed on the black and white panoramic image to generate an output panoramic image, and the plurality of output images generated at different time starting points can be further sequentially output to form a continuous dynamic panoramic image, so that the ultrasonic panoramic scanning has more accurate and dynamic usable image result.
Description
Technical Field
The present invention relates to an ultrasonic device and method, and more particularly, to an ultrasonic device and method capable of generating a panoramic image.
Background
Currently, ultrasound is used clinically to observe a wide range of disease symptoms, and most of all depends on the professional knowledge background and rich experience of the ultrasound operator, so as to perform confirmation and judgment by repeatedly and repeatedly capturing images of the range of interest. Since most ultrasonic instruments do not have a panoramic function, the use is relatively time-consuming and lack of objectivity, and therefore, the comparison of feature points in an image and the image stitching technology are adopted, so that the ultrasonic panoramic scanning has uniqueness in application. Specifically, the technique of capturing feature points in an image can increase the accuracy of the comparison by performing edge comparison from an early typical gray scale gradient distribution or by converting information in the image into special parameters as feature points.
The image stitching technique also affects the quality of the panoramic image to a considerable extent. The prior art mostly adopts blurring to make the image seam smoothly form seamless panoramic effect, but the resolution and partial details of the panoramic image are also damaged. Although there are many distinctive feature point alignment methods in the prior art, the application range is limited to static tissues, such as muscle tissue or tendon and ligament tissue. For example, black-and-white ultrasonic scanning is often used to scan a large-area panoramic image, and the image result can be presented smoothly as long as the scanned area is a static tissue and the subject remains still. However, for dynamic tissues such as carotid artery or large blood vessels of limbs, the continuous contraction and expansion of blood vessels leads to easy sawtooth generation during the stitching process after image acquisition, and the quality of the generated panoramic image is not satisfactory. However, ultrasound screening for carotid atherosclerosis is the most simple and rapid way to provide real information in clinical practice. Therefore, it is a subject to be researched and improved how to improve the way of creating the panoramic image by using ultrasonic waves so that the generated panoramic image has better quality and reduce the components of guessing and judgment which must be performed by an operator depending on experience and knowledge.
Disclosure of Invention
In order to solve the above problems, embodiments of the present invention provide an ultrasonic device and method for generating a panoramic image.
To achieve the above object, the present invention provides a method for generating an ultrasonic panoramic image, comprising:
using an ultrasonic probe to continuously obtain a plurality of black-and-white images and a plurality of color images corresponding to the black-and-white images on a detected object;
determining a plurality of black-and-white characteristic images and a plurality of corresponding color characteristic images in the plurality of black-and-white images and the plurality of color images;
splicing the plurality of black-and-white characteristic images into a black-and-white panoramic image, and splicing the plurality of color characteristic images into a color panoramic image; and
and superposing the color panoramic image on the black-and-white panoramic image to generate an output panoramic image.
Preferably, determining the black-and-white feature images and the corresponding color feature images in the black-and-white images and the color images comprises:
comparing whether the overlapping indexes of the first black-white image and the second black-white image in the plurality of black-white images meet a black-white preset value or not;
when the overlapping index of the first black-white image and the second black-white image meets the black-white preset value, comparing whether the overlapping index of the first color image and the second color image respectively corresponding to the first black-white image and the second black-white image meets a color preset value; and
when the overlapping index of the first color image and the second color image meets the preset color value, the first black-white image and the second black-white image and the corresponding first color image and second color image are respectively set as a first black-white characteristic image and a second black-white characteristic image and a first color characteristic image and a second color characteristic image.
Preferably, the comparison of the overlapping indexes of the first black-and-white image and the second black-and-white image in the plurality of black-and-white images is based on a first feature algorithm comparison to generate the overlapping indexes of the first black-and-white image and the second black-and-white image.
Preferably, the comparison of the overlapping indexes of the first color image and the second color image in the plurality of color images is based on a second feature algorithm comparison to generate the overlapping indexes of the first color image and the second color image.
Preferably, the determining a plurality of monochrome feature images among the plurality of monochrome images, and the determining a plurality of color feature images corresponding to the plurality of monochrome feature images respectively further comprises:
comparing whether the overlapping index of the second black-and-white image and the third black-and-white image in the plurality of black-and-white images meets the black-and-white preset value;
when the overlapping index of the second black-and-white image and the third black-and-white image meets the preset black-and-white value, comparing whether the overlapping index of the second color image and the third color image respectively corresponding to the second black-and-white image and the third black-and-white image meets the preset color value; and
and when the overlapping index of the second color image and the third color image meets the preset color value, respectively setting the third black-white image as a third black-white characteristic image and the third color image as a third color characteristic image.
Preferably, the stitching of the plurality of black-and-white feature images into the black-and-white panoramic image and the stitching of the plurality of color feature images into the color panoramic image are performed by stitching the plurality of black-and-white feature images into the black-and-white panoramic image and the stitching of the plurality of color feature images into the color panoramic image respectively by using a stitching algorithm, wherein the stitching algorithm comprises one of the following: alpha fusion, Poisson fusion and multiband fusion.
Preferably, the ultrasonic probe is used to continuously acquire a plurality of black-and-white images and a plurality of corresponding color images at a first time point to generate a first output panoramic image, and to continuously acquire a plurality of black-and-white images and a plurality of corresponding color images at a second time point to generate a second output panoramic image.
Preferably, the method further comprises: the method comprises the steps of continuously obtaining a plurality of black-and-white images and a plurality of corresponding color images from a plurality of different time points to respectively generate a plurality of output panoramic images, and displaying the plurality of output panoramic images to form a continuous dynamic panoramic image.
To achieve the above object, the present invention further provides an ultrasound device capable of generating a panoramic image, comprising:
an ultrasonic probe which continuously obtains a plurality of black-and-white images and a plurality of color images corresponding to the black-and-white images on a detected object;
a processing unit, configured to determine a plurality of black-and-white feature images and a plurality of corresponding color feature images in the plurality of black-and-white images and the plurality of color images, stitch the plurality of black-and-white feature images into a black-and-white panoramic image, stitch the plurality of color feature images into a color panoramic image, and superimpose the color panoramic image on the black-and-white panoramic image to generate an output panoramic image; and
and a display unit for displaying the output panoramic image.
Preferably, the processing unit is configured to:
comparing whether the overlapping indexes of the first black-white image and the second black-white image in the plurality of black-white images meet a black-white preset value or not;
when the overlapping index of the first black-white image and the second black-white image meets the black-white preset value, comparing whether the overlapping index of the first color image and the second color image respectively corresponding to the first black-white image and the second black-white image meets a color preset value; and
when the overlapping index of the first color image and the second color image meets the preset color value, the first black-white image and the second black-white image and the corresponding first color image and second color image are respectively set as a first black-white characteristic image and a second black-white characteristic image and a first color characteristic image and a second color characteristic image.
Preferably, the processing unit generates the overlapping index of the first black-and-white image and the second black-and-white image according to a first feature algorithm comparison.
Preferably, the processing unit generates an overlap indicator of the first color image and the second color image according to a comparison of a second feature algorithm.
Preferably, the processing unit is further configured to:
comparing whether the overlapping index of the second black-and-white image and the third black-and-white image in the plurality of black-and-white images meets the black-and-white preset value;
when the overlapping indexes of the second black-and-white image and the third black-and-white image meet the black-and-white preset value, comparing whether the overlapping indexes of the second color image and the third color image which respectively correspond to the overlapping indexes meet the color preset value; and
and when the overlapping index of the second color image and the third color image meets the preset color value, respectively setting the third black-white image and the third color image as a third black-white characteristic image and a third color characteristic image.
Preferably, the processing unit uses a stitching algorithm to stitch the black-and-white feature images into the black-and-white panoramic image, and stitches the color feature images into the color panoramic image, wherein the stitching algorithm includes one of the following: alpha fusion, Poisson fusion and multiband fusion.
Preferably, the ultrasonic probe is used for continuously acquiring a plurality of black-and-white images and a plurality of color images corresponding to the black-and-white images respectively at a first time point, the processing unit generates a first output panoramic image accordingly, the ultrasonic probe continuously acquires a plurality of black-and-white images and a plurality of color images corresponding to the black-and-white images respectively at a second time point, and the processing unit generates a second output panoramic image accordingly.
Preferably, the ultrasonic probe is further configured to continuously obtain a plurality of black-and-white images and a plurality of corresponding color images from a plurality of different time points, the processing unit generates a plurality of output panoramic images, and the display unit displays the plurality of output panoramic images to form a continuous dynamic panoramic image.
In summary, the method for generating an ultrasonic panoramic image and the ultrasonic device for generating an ultrasonic panoramic image using the method provided by the present invention analyze and compare the degree of the image overlapping area between the captured black and white images, ensure that there is a sufficient overlapping area between the two black and white images, then further compare the doppler signal errors of the color images corresponding to the two black and white images, thereby respectively determining a plurality of black and white feature images and a plurality of color feature images in the captured black and white images and color images, respectively stitching the plurality of black and white feature images and the plurality of color feature images into a black and white panoramic image and a color panoramic image using a stitching algorithm, and finally superimposing the color panoramic image on the black and white panoramic image to generate an output panoramic image. The output panoramic images generated from different time starting points can be output in sequence to form a continuous dynamic panoramic image, so that the ultrasonic panoramic scanning has more accurate and dynamic available image results.
Drawings
FIG. 1 is a schematic diagram of an ultrasonic device capable of generating a panoramic image according to an embodiment of the present invention.
Fig. 2 is a flowchart of a method for generating an ultrasonic panoramic image by using the ultrasonic device of fig. 1.
Fig. 3 is a schematic diagram of a plurality of black-and-white images and a plurality of corresponding color images obtained by the ultrasonic probe.
Fig. 4 is a flowchart of a method for determining black-and-white and color feature images in an iterative manner in step 204 of fig. 2.
Detailed Description
In order to further understand the objects, structures, features and functions of the present invention, the following embodiments are described in detail.
Certain terms are used throughout the description and following claims to refer to particular components. As one of ordinary skill in the art will appreciate, manufacturers may refer to a component by different names. This specification and claims do not intend to distinguish between components that differ in name but not function. In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to.
As used herein, the terms first, second, …, etc. are not intended to be limited to the particular order or sequence presented, nor are they intended to be limiting, but rather are intended to distinguish one element from another or from another element or operation described by the same technical terms.
Referring to fig. 1, fig. 1 is a schematic diagram of an ultrasonic device capable of generating a panoramic image according to an embodiment of the present invention. The ultrasonic device 1 includes an ultrasonic probe 10, a processing unit 20, and a display unit 30. The ultrasound probe 10 can continuously obtain a plurality of black-and-white images and a plurality of corresponding color images on the surface of the object 100, wherein the object 100 can be a dynamic or static tissue of a human body, such as a tissue structure of a heart, a blood vessel, etc. The processing unit 20 generates an output panoramic image based on the black-and-white image and the color image obtained by the ultrasonic probe 20, and the display unit 30 displays the output panoramic image.
The ultrasonic device 1 of the present invention utilizes the movement of the ultrasonic probe 10 on the surface of the object 100 to obtain a series of black-and-white images and a series of corresponding color images with the time and position changes, and the two series of image information are used to generate a reliable panoramic image of the ultrasonic scanning. When determining the characteristic image, a series of black-and-white characteristic images and corresponding color characteristic images are screened out from the obtained black-and-white image and the corresponding color image through the characteristic point comparison of the black-and-white ultrasonic image with different orders and the corresponding color comparison of the color ultrasonic image. In one embodiment, the ultrasound probe 10 scans the object 100 with a plurality of color images C in a color doppler ultrasound mode, which can measure dynamic values of dynamic tissues such as blood flow velocity and intensity, and distinguish the measured blood flow intensity or flow velocity by color.
Referring to fig. 2, fig. 2 is a flowchart of a method 200 for generating an ultrasound panoramic image by using the ultrasound apparatus of fig. 1, comprising the following steps:
step 202: obtaining a plurality of continuous black-and-white images and a plurality of color images corresponding to the black-and-white images on a tested object;
step 204: determining a plurality of black-and-white characteristic images and a plurality of corresponding color characteristic images in the plurality of black-and-white images and the plurality of color images;
step 206: splicing the plurality of black-and-white characteristic images into a black-and-white panoramic image, and splicing the plurality of color characteristic images into a color panoramic image;
step 208: superposing the color panoramic image on the black-and-white panoramic image to generate an output panoramic image;
step 210: and displaying a plurality of output panoramic images generated by a plurality of different starting time points as continuous dynamic panoramic images.
Referring to fig. 3, fig. 3 is a schematic diagram of a plurality of black-and-white images and a plurality of corresponding color images obtained by the ultrasonic probe. In step 202, after the ultrasonic probe 10 is used to continuously obtain a plurality of black-and-white images B and a plurality of corresponding color images C on the object 100, the processing unit 20 performs the operations of steps 204 to 208. In step 204, the processing unit 20 determines a plurality of monochrome feature images in the plurality of monochrome images B according to the effective overlapping areas of the monochrome images B, the determination process of the monochrome feature images is determined by the effective overlapping areas of the corresponding color images, and the color image C corresponding to each determined monochrome feature image is also determined as a color feature image. In step 204, after determining a plurality of monochrome feature images and color feature images from the series of monochrome images B and the series of corresponding color images C, the most suitable image for stitching is selected and the stitching operation in step 206 is performed. Then, in step 206, the processing unit 20 respectively stitches the black-and-white feature images into a black-and-white panoramic image and stitches the color feature images into a color panoramic image. In the process of stitching the feature images into the panoramic image, a stitching algorithm is used at the seams of the feature images to blur the seams, and meanwhile, the overall tissue line information is retained. In step 208, the corresponding color panoramic image and the black-and-white panoramic image are superimposed to generate an output panoramic image, which is output by the display unit 30, for example, displayed on a screen.
It should be noted that, the output panoramic image obtained in step 208 may not be the same as the result obtained by starting to perform step 202 at different time points. Therefore, the output panoramic images at different starting time points can be obtained by utilizing the characteristic, and the output panoramic images generated by a plurality of different starting time points respectively represent the human tissue structures corresponding to different moments. For example, the black-and-white images B and the corresponding color images C, respectively, that the ultrasonic probe 10 starts to continuously acquire at a first time point (step 202) can be used to generate a first output panoramic image (steps 204-208), the black-and-white images B and the corresponding color images C, respectively, that the ultrasonic probe starts to continuously acquire at a second time point (step 202) can be used to generate a second output panoramic image (steps 204-208), and so on. Then, as shown in step 210, the output panoramic images are sequentially played, so that the output panoramic images can be displayed as a continuous dynamic panoramic image on the display unit 30, and the playing can be suspended to observe the panoramic image result at a specific time.
The process of determining the black-and-white feature images and the corresponding color feature images in step 204 is described below. Referring to fig. 3 and 4, fig. 4 is a flowchart illustrating a method for determining black-and-white and color feature images in an iterative manner in step 204 of fig. 2, which includes the following steps:
step 302: setting a first black-and-white image in the plurality of black-and-white images as a black-and-white reference image and a black-and-white characteristic image, and setting a corresponding first color image as a color reference image and a color characteristic image;
step 304: is the comparison between the black-and-white images and the last image of the color images performed? If yes, go to step 206, otherwise go to step 306;
step 306: sequentially comparing the degree of the overlapping area of the black-white reference image and the subsequent black-white image; if the overlap indicator of the black-and-white reference image and the subsequent black-and-white image satisfies the preset black-and-white value, go to step 308, if the overlap indicator of the black-and-white reference image and the subsequent black-and-white image does not satisfy the preset black-and-white value, go to step S306;
step 308: comparing the image error between the color reference image and the color image corresponding to the black-and-white image; if the overlay indicator of the color reference image and the color image satisfies the color preset value, go to step 310, if the overlay indicator of the color reference image and the color image does not satisfy the color preset value, go to step 306;
step 310: setting the black and white reference image and the black and white image and the corresponding color reference image and the corresponding color image as a black and white characteristic image and a color characteristic image respectively;
step 312: the monochrome image of step 310 is set as the monochrome reference image and the color image is set as the color reference image, and step 304 is performed.
After obtaining the black-and-white images B and the corresponding color images C in fig. 3 in step 202, the two black-and-white images are sequentially input, and the first feature algorithm is used to compare whether there is enough overlapping area between the two black-and-white images. For example, in step 302, the first monochrome image B0 of the plurality of monochrome images B is first used as a reference for comparison, i.e., the monochrome image B0 is set as the monochrome reference image and is also directly set as the monochrome feature image, and the corresponding color image C0 is set as the color reference image and is also directly set as the color feature image.
The monochrome image B0 (the first monochrome image) serving as the monochrome reference image is then sequentially compared with each of the following monochrome images B one by one to determine the degree of overlap therebetween, i.e., the input two monochrome images are iteratively compared (sequentially comparing the monochrome image B0 with the monochrome image B1, the monochrome image B0 with the monochrome image B2 …). For example, in an embodiment, an ecc (enhanced Correlation coefficient) image registration algorithm may be used as the first feature algorithm to obtain the overlapping region of the two black and white images by calculating a transfer matrix, and in other embodiments, a FAST feature detection (FAST), a Scale Invariant Feature Transfer (SIFT), or an accelerated robust features (speedup robust features) may be used as the first feature algorithm. After one iteration, until the overlap indicator (degree of overlap area) between the monochrome image B0 and another monochrome image Bm (the second monochrome image) satisfies the predetermined monochrome value (step 306), that is, there is enough overlap area between the monochrome image B0 and the monochrome image Bm, and there is enough information amount to compare the doppler effect of the color image.
Then, the image overlap range obtained from the monochrome image B0 and the monochrome image Bm is compared with the image error between the color image C0 (the first color image) and the color image Cm (the second color image) corresponding to the monochrome image Bm by using a second feature algorithm (step 308), and it is actually calculated whether the error (overlap index) between the color image C0 and the color image Cm is low enough, i.e. whether the overlap index also satisfies the color default value. If so, it is determined that the doppler response values of the color image C0 and the color image Cm are relatively close and the blood flow rate or intensity is relatively similar, and it is determined that the monochrome image Bm and the corresponding color image Cm can be set as the monochrome feature image and the color feature image (step 310). For example, in an embodiment, a Square Error Method (Least Square Error Method) may be used as the second feature algorithm to calculate the Error between two color images and determine whether the calculated Error is lower than the predetermined color value. In other embodiments, Random sample consensus (RANSAC) and Gradient descent (Gradient device) may be used as the second feature algorithm.
Specifically, if the error between the color image C0 and the color image Cm obtained by the second feature algorithm in step 308 is not lower than the predetermined color value, it indicates that the color image Cm is not suitable for being used as a stitched image (the corresponding monochrome image Bm will not be used), so the process returns to step 306, and continues to perform the next iterative comparison, for example, compare the monochrome image B0 with the monochrome image Bm +1 …, and repeat steps 306 and 308 until sufficient monochrome images and color images are obtained as the feature images as described above.
After the monochrome image Bm (the second monochrome image) and the color image Cm (the second color image) are determined to be the monochrome feature image and the color feature image, respectively, in the next cycle, the monochrome image Bm and the color image Cm are used as the new monochrome reference image and the new color reference image, respectively, and the process from step 304 is repeated to compare with the subsequent images until the last monochrome image and color image are obtained. For example, in the second cycle, the black-and-white image Bm (the second black-and-white image) as the black-and-white reference image is sequentially compared with each of the following black-and-white images B until the overlapping index between the black-and-white image Bm and the following black-and-white image Bn (the third black-and-white image) satisfies the black-and-white default value (step 306), and then the overlapping indexes between the color image Cm (the second color image) and the color image Cn (the third color image) corresponding to the black-and-white image Bn (step 308) are compared to determine whether the overlapping index also satisfies the color default value, if so, the black-and-white image Bn and the corresponding color image Cn can be set as the black-and-white feature image and the color feature image Cn (step 310). Then, the black-and-white image Bn (the third black-and-white image) and the color image Cn (the third color image) are used as a new black-and-white reference image and a new color reference image to perform a third cyclic comparison until the last black-and-white image and the last color image (step 304), so that a plurality of black-and-white feature images and a plurality of corresponding color feature images can be determined from the captured black-and-white images B and color images C (step 204).
After the above method, the processing unit 20 determines a plurality of black-and-white characteristic images and a plurality of color characteristic images from the plurality of black-and-white images B and the plurality of corresponding color images C obtained by the ultrasonic probe 10, respectively splices the black-and-white characteristic images and the plurality of color characteristic images into a black-and-white panoramic image and a color panoramic image, and superimposes the black-and-white panoramic image and the color panoramic image to obtain a color doppler panoramic image, and finally displays the color output panoramic image on the display unit 30.
The method and the ultrasonic device provided by the invention have the following advantages:
1. the color Doppler ultrasonic panoramic image can be generated without limitation to the type and size of the ultrasonic probe, repeated scanning and observation are not needed to save time, and more comprehensive image information is provided.
2. The Doppler signal information is screened and classified, so that the moving error of tissue contraction and expansion is reduced, the ultrasonic panoramic image is closer to a real human body structure, and other sensors are not needed to obtain additional reference signals.
3. The dynamic and static color Doppler panoramic images can be observed simultaneously, which is beneficial to observing the blood flowing condition in the blood vessel and observing the panoramic result at a specific moment.
To sum up, the method for generating an ultrasonic panoramic image and the ultrasonic device for generating an ultrasonic panoramic image using the method of the present invention further compare doppler signal errors of color images corresponding to two black and white images after ensuring sufficient overlapping areas between the two black and white images by analyzing and comparing the degree of the image overlapping areas between the captured black and white images, thereby determining a plurality of black and white feature images and a plurality of color feature images in the captured black and white images and color images, respectively stitching the black and white feature images and the color feature images into a black and white panoramic image and a color panoramic image using a stitching algorithm, and finally superimposing the color panoramic image on the black and white panoramic image to generate an output panoramic image. The output panoramic images generated from different time starting points can be output in sequence to form a continuous dynamic panoramic image, so that the ultrasonic panoramic scanning has more accurate and dynamic available image results.
The present invention has been described in relation to the above embodiments, which are only exemplary of the implementation of the present invention. It should be noted that the disclosed embodiments do not limit the scope of the invention. Rather, it is intended that all such modifications and variations be included within the spirit and scope of this invention.
Claims (14)
1. A method for generating an ultrasound panoramic image, comprising the steps of:
using an ultrasonic probe to continuously obtain a plurality of black-and-white images and a plurality of color images corresponding to the black-and-white images on a detected object;
determining a plurality of black-and-white characteristic images and a plurality of corresponding color characteristic images in the plurality of black-and-white images and the plurality of color images;
splicing the plurality of black-and-white characteristic images into a black-and-white panoramic image, and splicing the plurality of color characteristic images into a color panoramic image; and
superposing the color panoramic image on the black-and-white panoramic image to generate an output panoramic image;
determining the plurality of monochrome feature images and the corresponding plurality of color feature images in the plurality of monochrome images and the plurality of color images comprises:
comparing whether the overlapping indexes of the first black-white image and the second black-white image in the plurality of black-white images meet a black-white preset value or not;
when the overlapping index of the first black-white image and the second black-white image meets the black-white preset value, comparing whether the overlapping index of the first color image and the second color image respectively corresponding to the first black-white image and the second black-white image meets a color preset value; and
when the overlapping index of the first color image and the second color image meets the preset color value, the first black-white image and the second black-white image and the corresponding first color image and second color image are respectively set as a first black-white characteristic image and a second black-white characteristic image and a first color characteristic image and a second color characteristic image.
2. The method of claim 1, wherein the comparing the overlay indicator of the first monochrome image and the second monochrome image in the plurality of monochrome images is based on a first feature algorithm comparison to generate the overlay indicator of the first monochrome image and the second monochrome image.
3. The method of claim 1, wherein the comparing the overlay indicators of the first color image and the second color image in the plurality of color images is based on a second feature algorithm comparison to generate the overlay indicators of the first color image and the second color image.
4. The method of claim 1, wherein determining a plurality of monochrome feature images in the plurality of monochrome images, and a plurality of color feature images respectively corresponding to the plurality of monochrome feature images further comprises:
comparing whether the overlapping index of the second black-and-white image and the third black-and-white image in the plurality of black-and-white images meets the black-and-white preset value;
when the overlapping index of the second black-and-white image and the third black-and-white image meets the preset black-and-white value, comparing whether the overlapping index of the second color image and the third color image respectively corresponding to the second black-and-white image and the third black-and-white image meets the preset color value; and
and when the overlapping index of the second color image and the third color image meets the preset color value, respectively setting the third black-white image as a third black-white characteristic image and the third color image as a third color characteristic image.
5. The method of claim 1, wherein the stitching the black-and-white feature images into the black-and-white panoramic image and the color feature images into the color panoramic image are performed by stitching the black-and-white feature images into the black-and-white panoramic image and the color feature images into the color panoramic image respectively using a stitching algorithm, the stitching algorithm comprising one of: alpha fusion, Poisson fusion and multiband fusion.
6. The method of claim 1, wherein the ultrasound probe is used to continuously acquire a plurality of black-and-white images and a plurality of corresponding color images at a first time point to generate a first output panoramic image, and to continuously acquire a plurality of black-and-white images and a plurality of corresponding color images at a second time point to generate a second output panoramic image.
7. The method of claim 6, further comprising: the method comprises the steps of continuously obtaining a plurality of black-and-white images and a plurality of corresponding color images from a plurality of different time points to respectively generate a plurality of output panoramic images, and displaying the plurality of output panoramic images to form a continuous dynamic panoramic image.
8. An ultrasound device for generating a panoramic image, comprising:
an ultrasonic probe which continuously obtains a plurality of black-and-white images and a plurality of color images corresponding to the black-and-white images on a detected object;
a processing unit, configured to determine a plurality of black-and-white feature images and a plurality of corresponding color feature images in the plurality of black-and-white images and the plurality of color images, stitch the plurality of black-and-white feature images into a black-and-white panoramic image, stitch the plurality of color feature images into a color panoramic image, and superimpose the color panoramic image on the black-and-white panoramic image to generate an output panoramic image; and
a display unit for displaying the output panoramic image;
the processing unit is used for: comparing whether the overlapping indexes of the first black-white image and the second black-white image in the plurality of black-white images meet a black-white preset value or not; when the overlapping index of the first black-white image and the second black-white image meets the black-white preset value, comparing whether the overlapping index of the first color image and the second color image respectively corresponding to the first black-white image and the second black-white image meets a color preset value; and when the overlapping index of the first color image and the second color image meets the preset color value, respectively setting the first black-and-white image and the second black-and-white image and the corresponding first color image and second color image as a first black-and-white characteristic image and a second black-and-white characteristic image and a first color characteristic image and a second color characteristic image.
9. The ultrasonic device of claim 8, wherein the processing unit generates the overlay indicator of the first monochrome image and the second monochrome image according to a first feature algorithm comparison.
10. The ultrasonic device of claim 8, wherein the processing unit generates an overlap indicator of the first color image and the second color image according to a second feature algorithm comparison.
11. The ultrasonic apparatus of claim 8, wherein the processing unit is further configured to:
comparing whether the overlapping index of the second black-and-white image and the third black-and-white image in the plurality of black-and-white images meets the black-and-white preset value;
when the overlapping indexes of the second black-and-white image and the third black-and-white image meet the black-and-white preset value, comparing whether the overlapping indexes of the second color image and the third color image which respectively correspond to the overlapping indexes meet the color preset value; and
and when the overlapping index of the second color image and the third color image meets the preset color value, respectively setting the third black-white image and the third color image as a third black-white characteristic image and a third color characteristic image.
12. The ultrasonic apparatus according to claim 8, wherein the processing unit respectively stitches the black-and-white feature images into the black-and-white panoramic image and stitches the color feature images into the color panoramic image by using a stitching algorithm, the stitching algorithm comprising one of: alpha fusion, Poisson fusion and multiband fusion.
13. The ultrasonic apparatus of claim 8, wherein the ultrasonic probe is configured to continuously acquire a plurality of black-and-white images and a plurality of corresponding color images at a first time point, the processing unit generates a first output panoramic image, and the ultrasonic probe continuously acquires a plurality of black-and-white images and a plurality of corresponding color images at a second time point, the processing unit generates a second output panoramic image.
14. The ultrasonic apparatus of claim 13, wherein the ultrasonic probe is further configured to continuously acquire black-and-white images and corresponding color images from different time points, the processing unit generates output panoramic images, and the display unit displays the output panoramic images to form a continuous dynamic panoramic image.
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