CN110368027A - A kind of image interfusion method and device - Google Patents

A kind of image interfusion method and device Download PDF

Info

Publication number
CN110368027A
CN110368027A CN201810330209.2A CN201810330209A CN110368027A CN 110368027 A CN110368027 A CN 110368027A CN 201810330209 A CN201810330209 A CN 201810330209A CN 110368027 A CN110368027 A CN 110368027A
Authority
CN
China
Prior art keywords
coordinate
electromagnetism
transformational relation
image
marker
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201810330209.2A
Other languages
Chinese (zh)
Other versions
CN110368027B (en
Inventor
郭楚
刘达
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Baihui Weikang Technology Co Ltd
Original Assignee
Beijing Bai Hui Weikang Medical Robot Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Bai Hui Weikang Medical Robot Technology Co Ltd filed Critical Beijing Bai Hui Weikang Medical Robot Technology Co Ltd
Priority to CN201810330209.2A priority Critical patent/CN110368027B/en
Publication of CN110368027A publication Critical patent/CN110368027A/en
Application granted granted Critical
Publication of CN110368027B publication Critical patent/CN110368027B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
    • A61B8/0833—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures
    • A61B8/0841—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures for locating instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/52—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/5215—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data
    • A61B8/5238—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data for combining image data of patient, e.g. merging several images from different acquisition modes into one image
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/52—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/5215—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data
    • A61B8/5238—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data for combining image data of patient, e.g. merging several images from different acquisition modes into one image
    • A61B8/5246—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data for combining image data of patient, e.g. merging several images from different acquisition modes into one image combining images from the same or different imaging techniques, e.g. color Doppler and B-mode
    • A61B8/5253—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data for combining image data of patient, e.g. merging several images from different acquisition modes into one image combining images from the same or different imaging techniques, e.g. color Doppler and B-mode combining overlapping images, e.g. spatial compounding

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Molecular Biology (AREA)
  • Biophysics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (AREA)
  • Medical Informatics (AREA)
  • Physics & Mathematics (AREA)
  • Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)
  • Magnetic Resonance Imaging Apparatus (AREA)

Abstract

The embodiment of the present application provides a kind of image interfusion method and device, belongs to technical field of image processing.The method includes establishing transformational relation between ultrasound coordinates system and three-dimensional system of coordinate using electromagnetism tracing equipment, electromagnetic identification and marker；According to the transformational relation between ultrasound coordinates system and three-dimensional system of coordinate, by the image under ultrasound image and 3-D image unification to the same coordinate system, after obtaining ultrasound image and 3-D image real time fusion.The embodiment of the present application in real time can merge ultrasound image and 3-D image according to the movement of body surface and the movement of ultrasonic probe, realize when human body is breathed, also can accurately obtain the real space position of each internal organs in body.

Description

A kind of image interfusion method and device
Technical field
The invention relates to technical field of image processing more particularly to a kind of image interfusion methods and device.
Background technique
Ultrasonic imaging is to scan human body using ultrasonic acoustic beam, by reception, the processing to reflection signal, to obtain internal device The imaging technique of the image of official.
Blood vessel, lesion and each internal organs can be medically judged by the obtained ultrasound image of ultrasonic imaging technique General condition, advantage is that the information in image is all that in real time, but ultrasound image is sector image, and picture quality pays no attention to Think, and ultrasound image is two dimensional image, can only reflect the various physiologic informations under a plane, cannot reflect on the whole Relative position between blood vessel, lesion and each internal organs out.
The ultrasound image obtained by above-mentioned ultrasonic imaging technique due to cannot reflect on the whole blood vessel, lesion and Relative position between each internal organs, therefore accurate real space position can not be obtained, and under many situations in medicine, Require to obtain the real space position of human body body vessel, lesion and each internal organs, therefore, how by ultrasonic imaging technique Being applied to is current urgent problem to be solved under these situations.
Summary of the invention
In view of this, one of the technical issues of the embodiment of the present application is solved is to provide a kind of image interfusion method and dress It sets, can be realized the real space position for accurately obtaining each internal organs in body when human body is breathed.
In a first aspect, the embodiment of the present application provides a kind of image interfusion method, comprising:
Using electromagnetism tracing equipment, electromagnetic identification and marker, establishes and turn between ultrasound coordinates system and three-dimensional system of coordinate Change relationship；
It is according to the transformational relation between ultrasound coordinates system and three-dimensional system of coordinate, ultrasound image is unified to same with 3-D image Image under one coordinate system, after obtaining ultrasound image and 3-D image real time fusion.
Optionally, described using electromagnetism tracing equipment, electromagnetic identification and marker, in ultrasound coordinates system and three-dimensional system of coordinate Between the step of establishing transformational relation include:
According to the positional relationship between the marker that body surface is arranged in and electromagnetic identification corresponding with marker, electromagnetism Three-dimensional sit is established in position of the tracing equipment to the real-time tracing and the marker of the electromagnetic identification in 3-D image Transformational relation between mark system and electromagnetism coordinate system；
According to the positional relationship and electromagnetism tracing equipment between the electromagnetic identification and ultrasonic probe being arranged on ultrasonic probe To the real-time tracing of the electromagnetic identification, the transformational relation between ultrasound coordinates system and electromagnetism coordinate system is established；
According between three-dimensional system of coordinate and electromagnetism coordinate system transformational relation and ultrasound coordinates system and electromagnetism coordinate system it Between transformational relation, establish transformational relation between ultrasound coordinates system and three-dimensional system of coordinate.
Optionally, it is closed according to the position between the marker that body surface is arranged in and electromagnetic identification corresponding with marker System, position of the electromagnetism tracing equipment to the real-time tracing and the marker of the electromagnetic identification in 3-D image are established Transformational relation between three-dimensional system of coordinate and electromagnetism coordinate system includes:
According to the positional relationship being arranged between the marker and electromagnetic identification on body surface, obtains marker and be arranged Coordinate under the mark coordinate system that electromagnetic identification on body surface is possessed；
According to electromagnetism tracing equipment to the real-time tracing of the electromagnetic identification, obtain mark coordinate system and electromagnetism coordinate system it Between transformational relation；
It is closed according to the conversion between coordinate of the marker in the case where identifying coordinate system, and mark coordinate system and electromagnetism coordinate system System, obtains coordinate of the marker under electromagnetism coordinate system；
According to coordinate of the obtained marker in position of the marker in 3-D image under three-dimensional system of coordinate, Yi Jibiao Remember coordinate of the object under electromagnetism coordinate system, establishes the transformational relation between three-dimensional system of coordinate and electromagnetism coordinate system.
Optionally, according to the positional relationship and electromagnetism between the electromagnetic identification and ultrasonic probe being arranged on ultrasonic probe Tracing equipment establishes the step of the transformational relation between ultrasound coordinates system and electromagnetism coordinate system to the real-time tracing of the electromagnetic identification Suddenly specifically:
According to ultrasonic probe and the positional relationship being fixed between the electromagnetic identification on ultrasonic probe, ultrasound coordinates system is obtained And the transformational relation identified between coordinate system that the electromagnetic identification being fixed on ultrasonic probe is possessed；
According to electromagnetism tracing equipment to the real-time tracking of the electromagnetic identification, obtain mark coordinate system and electromagnetism coordinate system it Between transformational relation；
According to ultrasound coordinates system and mark coordinate system between transformational relation, and mark coordinate system and electromagnetism coordinate system it Between transformational relation, obtain the transformational relation between ultrasound coordinates system and electromagnetism coordinate system.
Optionally, the positional relationship between marker and the electromagnetic identification that body surface is set specifically:
With body surface at least two fixed electromagnetic identifications, at least one electromagnetic identification and at least three non-colinears Marker between positional relationship fix, and at most there is fixed positional relationship with electromagnetic identification in each marker, At least there is fixed positional relationship with a marker in each electromagnetic identification.
Optionally, the positional relationship between marker and the electromagnetic identification that body surface is set specifically: with body In at least two fixed electromagnetic identifications of table, the positional relationship between each electromagnetic identification and at least three non-colinear markers It is fixed, and at most there is fixed positional relationship with an electromagnetic identification in each marker.
Optionally, the transformational relation according between ultrasound coordinates system and three-dimensional system of coordinate, by ultrasound image and three-dimensional Under image unification to the same coordinate system, the image after obtaining ultrasound image and 3-D image real time fusion specifically:
According to coordinate of the pixel each in ultrasound image under ultrasound coordinates system, each pixel is sat in three-dimensional in 3-D image Transformational relation between mark system lower coordinate and ultrasound coordinates system and three-dimensional system of coordinate, by pixel each in ultrasound image with In 3-D image under each pixel unification to the same coordinate system, the real time position relationship of ultrasound image and 3-D image is obtained, and Image co-registration is carried out according to the real time position relationship of ultrasound image and 3-D image, ultrasound image is obtained and 3-D image melts in real time Image after conjunction.
Second aspect, the embodiment of the present application also provides a kind of image fusion devices, including three-D ultrasonic transformational relation mould Block and three-dimensional ultrasound pattern Fusion Module, wherein
Three-D ultrasonic transformational relation module is connect with three-dimensional ultrasound pattern Fusion Module, is used for: electromagnetism tracing equipment is utilized, Electromagnetic identification and marker, establish transformational relation between ultrasound coordinates system and three-dimensional system of coordinate, and by ultrasound coordinates system and three Transformational relation between dimension coordinate system is sent to three-dimensional ultrasound pattern Fusion Module；
Three-dimensional ultrasound pattern Fusion Module is connect with three-D ultrasonic transformational relation module, is used for:
According to the transformational relation between the ultrasound coordinates system received and three-dimensional system of coordinate, by ultrasound image and 3-D image Image under unification to the same coordinate system, after obtaining ultrasound image and 3-D image real time fusion.
Optionally, the three-D ultrasonic transformational relation module includes 3 D electromagnetic transformational relation module, ultrasonic electromagnetic conversion Relationship module and three-D ultrasonic transformational relation module, wherein
3 D electromagnetic transformational relation module is connected with three-D ultrasonic transformational relation module, is used for: according to setting in body Positional relationship between the marker of table and electromagnetic identification corresponding with marker, electromagnetism tracing equipment is to the electromagnetic identification The position of real-time tracing and the marker in 3-D image is established between three-dimensional system of coordinate and electromagnetism coordinate system and is turned Relationship is changed, and sends three-D ultrasonic transformational relation module for the transformational relation between three-dimensional system of coordinate and electromagnetism coordinate system；
Ultrasonic electromagnetism transformational relation module is connected with three-D ultrasonic transformational relation module, is used for: being set according on ultrasonic probe Positional relationship and electromagnetism tracing equipment chasing after in real time to the electromagnetic identification between the electromagnetic identification set and ultrasonic probe Track establishes the transformational relation between ultrasound coordinates system and electromagnetism coordinate system, and will be between ultrasound coordinates system and electromagnetism coordinate system Transformational relation is sent to three-D ultrasonic transformational relation module；
Three-D ultrasonic transformational relation module is connected with 3 D electromagnetic transformational relation module and ultrasonic electromagnetism transformational relation module, For:
According to the transformational relation and ultrasound coordinates system and electromagnetism between the three-dimensional system of coordinate received and electromagnetism coordinate system Transformational relation between coordinate system establishes transformational relation between ultrasound coordinates system and three-dimensional system of coordinate.
Optionally, 3 D electromagnetic transformational relation module further includes mark coordinate unit, identifies electromagnetic conversion relation unit, electricity Magnetic coordinate unit, 3 D electromagnetic transformational relation unit, in which:
Mark coordinate unit is connect with electromagnetism coordinate unit, for according to the marker and electromagnetism being arranged on body surface Positional relationship between mark obtains marker under the mark coordinate system that the electromagnetic identification being arranged on body surface is possessed Coordinate, and coordinate of the marker in the case where identifying coordinate system is sent to electromagnetism coordinate unit；
Mark electromagnetic conversion relation unit is connect with electromagnetism coordinate unit, is used for according to electromagnetism tracing equipment to the electromagnetism The real-time tracing of mark obtains the transformational relation between mark coordinate system and electromagnetism coordinate system, and mark coordinate system and electromagnetism Transformational relation between coordinate system is sent to electromagnetism coordinate unit；
Electromagnetism coordinate unit is connected with mark coordinate unit and mark electromagnetic conversion relation unit, is received for basis Transformational relation between coordinate of the marker in the case where identifying coordinate system, and mark coordinate system and electromagnetism coordinate system, obtains marker Coordinate under electromagnetism coordinate system, and coordinate of the marker under electromagnetism coordinate system is sent to 3 D electromagnetic transformational relation list Member；
3 D electromagnetic transformational relation unit is connected with electromagnetism coordinate unit, for the position according to marker in 3-D image Coordinate of the obtained marker under three-dimensional system of coordinate is set, and coordinate of the marker received under electromagnetism coordinate system, Establish the transformational relation between three-dimensional system of coordinate and electromagnetism coordinate system.
Optionally, ultrasonic electromagnetism transformational relation module includes: ultrasonic signals transformational relation unit, identifies electromagnetic conversion relationship Unit and ultrasonic electromagnetism transformational relation unit, in which:
Ultrasonic signals transformational relation unit is connected with ultrasonic electromagnetism transformational relation unit, is used for: according to ultrasonic probe and admittedly The positional relationship being scheduled between the electromagnetic identification on ultrasonic probe, the electromagnetism for obtaining ultrasound coordinates system and being fixed on ultrasonic probe The transformational relation between possessed mark coordinate system is identified, and the transformational relation between ultrasound coordinates system and mark coordinate system It is sent to ultrasonic electromagnetism transformational relation unit；
Mark electromagnetic conversion relation unit is connected with ultrasonic electromagnetism transformational relation unit, is used for: according to electromagnetism tracing equipment To the real-time tracking of the electromagnetic identification, the transformational relation between mark coordinate system and electromagnetism coordinate system is obtained, and mark is sat Transformational relation between mark system and electromagnetism coordinate system is sent to ultrasonic electromagnetism transformational relation unit；
Ultrasonic electromagnetism transformational relation unit and ultrasonic signals transformational relation unit and mark electromagnetic conversion relation unit connect It connects, is used for:
According to the transformational relation between the ultrasound coordinates system received and mark coordinate system, and mark coordinate system and electromagnetism Transformational relation between coordinate system obtains the transformational relation between ultrasound coordinates system and electromagnetism coordinate system.
Optionally, in image fusion device, the position between marker and the electromagnetic identification that body surface is arranged in is closed System specifically:
With body surface at least two fixed electromagnetic identifications, at least one electromagnetic identification and at least three non-colinears Marker between positional relationship fix, and at most there is fixed positional relationship with electromagnetic identification in each marker, At least there is fixed positional relationship with a marker in each electromagnetic identification.
Optionally, in image fusion device, the position between marker and the electromagnetic identification that body surface is arranged in is closed System specifically:
With body surface at least two fixed electromagnetic identifications, each electromagnetic identification and at least three non-colinear labels Positional relationship between object is fixed, and each marker at most has fixed positional relationship with an electromagnetic identification.
Optionally, three-dimensional ultrasound pattern Fusion Module is specifically used for:
According to coordinate of the pixel each in ultrasound image under ultrasound coordinates system, each pixel is sat in three-dimensional in 3-D image Transformational relation between mark system lower coordinate and ultrasound coordinates system and three-dimensional system of coordinate, by pixel each in ultrasound image with In 3-D image under each pixel unification to the same coordinate system, the real time position relationship of ultrasound image and 3-D image is obtained, and Image co-registration is carried out according to the real time position relationship of ultrasound image and 3-D image, ultrasound image is obtained and 3-D image melts in real time Image after conjunction.
By above technical scheme as it can be seen that the embodiment of the present application can utilize electromagnetism tracing equipment, electromagnetic identification and marker, According to the movement of body surface and the movement of ultrasonic probe, the real-time conversion between ultrasound coordinates system and three-dimensional system of coordinate is established Relationship, and then on the basis of the real-time transformational relation, real time fusion is carried out to ultrasound image and 3-D image, is realized in people When body is breathed, the real space position of each internal organs in body also can be accurately obtained.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this The some embodiments recorded in application embodiment can also obtain according to these attached drawings for those of ordinary skill in the art Obtain other attached drawings.
Fig. 1 is a kind of flow diagram of image interfusion method in the embodiment of the present application；
Fig. 2 is a kind of structural schematic diagram of image fusion device in the embodiment of the present application；
Fig. 3 is the 3-D image in the embodiment of the present application；
Fig. 4 is the ultrasound image in the embodiment of the present application；
Fig. 5 is 3-D image and the fused image of ultrasound image in the embodiment of the present application.
Specific embodiment
In order to make those skilled in the art more fully understand the technical solution in the embodiment of the present application, below in conjunction with the application Attached drawing in embodiment, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described reality Applying example only is the embodiment of the present application a part of the embodiment, instead of all the embodiments.Based on the implementation in the embodiment of the present application The range of the embodiment of the present application protection all should belong in example, those of ordinary skill in the art's every other embodiment obtained.
In actual operation, by CT (Computer Tomography, CT scan) equipment or MRI (Magnetic Resonance Imaging, magnetic resonance imaging) image documentation equipment or nuclear-magnetism equipment scanning human body are generated such as 3-D image shown in Fig. 3 can integrally show the intracorporal various physiological structures of human body, but can not provide real-time image, and By ultrasound image as shown in Figure 4 although available real-time image, but it is only able to display the image under a plane, Therefore the intracorporal various physiological structures of human body can not be shown on the whole；And two ways is difficult to help medical worker's judgement The real space position of human body body vessel, lesion and each internal organs；Inventors have found that two ways, which is combined, to be had Effect helps the real space position of medical worker's real-time judge human body body vessel, lesion and each internal organs, thus in medicine In be used widely；Therefore the embodiment of the present application proposes a kind of method for merging ultrasound image and 3-D image, To obtain the accurate real space position of each physiological structure by fused image.
Referring to Fig. 1, the embodiment of the present application provides a kind of image interfusion method, including step S100-S200, specifically Ground:
S100: electromagnetism tracing equipment, electromagnetic identification and marker are utilized, is built between ultrasound coordinates system and three-dimensional system of coordinate Vertical transformational relation.
It should be noted that in the embodiment of the present application, electromagnetic identification includes the electromagnetic identification being arranged on ultrasonic probe Be arranged in two kinds of electromagnetic identification of body surface, the electromagnetic identification on ultrasonic probe is either set, or is arranged in people The electromagnetic identification of body body surface can be identified that the position that difference is only arranged is different, for convenience by electromagnetism tracing equipment real-time tracking Illustrate, the electromagnetic identification being arranged on ultrasonic probe is known as electromagnetic identification of popping one's head in by the embodiment of the present application, will be arranged in body Electromagnetic identification on table is known as body surface electromagnetic identification.
During realization, in order to finally obtain the transformational relation between three-dimensional system of coordinate and ultrasound coordinates system, need Body surface electromagnetic identification and marker are fixedly installed on body surface, and establishes fixed position between body surface electromagnetic identification and marker Therefore relationship by electromagnetism tracing equipment to the real-time tracking of body surface electromagnetic identification, can establish marker and electromagnetism tracing equipment Between relationship, and since marker can pass through CT (Computer Tomography, electronic computer tomography together with human body Scanning) equipment or MRI (Magnetic Resonance Imaging, magnetic resonance imaging) equipment scanning and in 3-D image at Therefore picture, and can be established after the relationship between marker and 3-D image between binding label and electromagnetism tracing equipment Relationship, so that it may establish the relationship between 3-D image and electromagnetism tracing equipment.
In addition, due between probe electromagnetic identification and ultrasonic probe there is also fixed positional relationship, pass through electromagnetism Tracing equipment can establish the relationship between ultrasonic probe and electromagnetism tracing equipment to the real-time tracking of probe electromagnetic identification.
To sum up, using electromagnetism tracing equipment as intermediary, the relationship between ultrasonic probe and 3-D image can be established.
Optionally, using electromagnetism tracing equipment, electromagnetic identification and marker, between ultrasound coordinates system and three-dimensional system of coordinate The step of establishing transformational relation include:
According to the positional relationship between the marker that body surface is arranged in and electromagnetic identification corresponding with marker, electromagnetism Three-dimensional sit is established in position of the tracing equipment to the real-time tracing and the marker of the electromagnetic identification in 3-D image Transformational relation between mark system and electromagnetism coordinate system；
According to the positional relationship and electromagnetism tracing equipment between the electromagnetic identification and ultrasonic probe being arranged on ultrasonic probe To the real-time tracing of the electromagnetic identification, the transformational relation between ultrasound coordinates system and electromagnetism coordinate system is established；
According between three-dimensional system of coordinate and electromagnetism coordinate system transformational relation and ultrasound coordinates system and electromagnetism coordinate system it Between transformational relation, establish transformational relation between ultrasound coordinates system and three-dimensional system of coordinate.
It can be seen from the above, in the embodiment of the present application, according to the difference of setting position, electromagnetic identification is divided into ultrasonic magnet signal Know and two kinds of body surface electromagnetic identification, each electromagnetic identification itself possesses a mark coordinate system in addition, be more clearly retouch It states, correspondingly, identifies coordinate system here and be also classified into the ultrasonic signals coordinate system and body surface magnet signal that ultrasonic electromagnetic identification is possessed Know possessed body surface and identifies two kinds of coordinate system, and electromagnetism tracing equipment itself possesses an electromagnetism coordinate system, therefore, passes through electricity Magnetic tracing equipment turns the real-time tracking of body surface electromagnetic identification between available electromagnetism coordinate system and body surface mark coordinate system Relationship is changed, and according to positional relationship fixed between the marker that body surface is arranged in and body surface electromagnetic identification, can be marked Remember that object identifies the coordinate under coordinate system in body surface, it, can in conjunction with the transformational relation between electromagnetism coordinate system and body surface mark coordinate system Further to obtain coordinate of the marker under electromagnetism coordinate system, and marker can pass through CT equipment or nuclear-magnetism together with human body Equipment scans and generates 3-D image, and marker can be obtained according to position of the marker in 3-D image in 3-D image institute Coordinate under the three-dimensional system of coordinate possessed, therefore, coordinate of the binding label under electromagnetism coordinate system, available three-dimensional coordinate Transformational relation between system and electromagnetism coordinate system.
Further, according to the position between the marker that body surface is arranged in and electromagnetic identification corresponding with marker Relationship, position of the electromagnetism tracing equipment to the real-time tracing and the marker of the electromagnetic identification in 3-D image, builds Transformational relation between vertical three-dimensional system of coordinate and electromagnetism coordinate system includes:
According to the positional relationship being arranged between the marker and electromagnetic identification on body surface, obtains marker and be arranged Coordinate under the mark coordinate system that electromagnetic identification on body surface is possessed；
According to electromagnetism tracing equipment to the real-time tracing of the electromagnetic identification, obtain mark coordinate system and electromagnetism coordinate system it Between transformational relation；
It is closed according to the conversion between coordinate of the marker in the case where identifying coordinate system, and mark coordinate system and electromagnetism coordinate system System, obtains coordinate of the marker under electromagnetism coordinate system；
According to coordinate of the obtained marker in position of the marker in 3-D image under three-dimensional system of coordinate, Yi Jibiao Remember coordinate of the object under electromagnetism coordinate system, establishes the transformational relation between three-dimensional system of coordinate and electromagnetism coordinate system.
More specifically, in the embodiment of the present application, each body surface electromagnetic identification has an one's own coordinate system, such as Fruit has N number of body surface electromagnetic identification (N is the integer more than or equal to 2), then there is N number of body surface mark coordinate system, in addition marker There is fixed positional relationship between body surface electromagnetic identification, is calculated by processing drawing or method of actual measurement etc. can be with Marker central point is obtained to identify under coordinate system in the body surface for having the body surface electromagnetic identification of fixed positional relationship to be possessed with it Coordinate.Meanwhile electromagnetism tracing equipment can in real time track and identify each body surface electromagnetic identification, therefore, pass through electricity Magnetic tracing equipment can obtain each body surface mark coordinate system and electromagnetism tracing equipment to the real-time tracking of body surface electromagnetic identification The transformational relation between electromagnetism coordinate system possessed.
The transformational relation between each body surface mark coordinate system and electromagnetism coordinate system is obtained, and obtains marker central point After the coordinate that the body surface for having the body surface electromagnetic identification of fixed positional relationship to be possessed with it identifies under coordinate system, it can be marked Remember coordinate of the object central point under electromagnetism coordinate system.And since electromagnetism tracing equipment is in real time to each body surface magnet signal Knowledge is tracked and identified, therefore also can be obtained by real-time coordinates of the marker central point under electromagnetism coordinate system, in addition electromagnetism The pose of tracing equipment is fixed, and marker can be under electromagnetism coordinate system with the continually changing shape of coordinate with the movement of body surface Formula shows.
Since CT equipment or nuclear-magnetism equipment scanning human body can obtain the 3-D image of human body, it is arranged in body Marker on table can be presented in 3-D image, and then obtained each marker central point and possessed in 3-D image Three-dimensional system of coordinate under coordinate.It is sat according to the obtained marker central point in position of the marker in 3-D image in three-dimensional The coordinate of coordinate and marker central point under electromagnetism coordinate system under mark system, can be according to same point in two coordinate systems Under coordinate, and then obtain the transformational relation between three-dimensional system of coordinate and electromagnetism coordinate system.
It should be noted that since coordinate of the marker central point under electromagnetism coordinate system obtains in real time, root The marker central point obtained when factually is between the three-dimensional system of coordinate and electromagnetism coordinate system that the coordinate under electromagnetism coordinate system is established Transformational relation be also real-time change, i.e., it is three-dimensional when coordinate when marker central point under electromagnetism coordinate system generates variation Transformational relation between coordinate system and electromagnetism coordinate system can also change therewith.
In order to obtain more accurate transformational relation in real time in respiratory, the embodiment of the present application proposes body surface A kind of allocation plan of electromagnetic identification and marker needs in the program at least two body surface electromagnetic identifications and at least four to mark Object, wherein with body surface at least two fixed electromagnetic identifications, at least one electromagnetic identification and at least three non-colinears Marker between positional relationship fix, and at most there is fixed positional relationship with electromagnetic identification in each marker, At least there is fixed positional relationship with a marker in each electromagnetic identification.
On the basis of a kind of upper scheme, in order to make transformational relation is more stable to change with breathing, need in body surface At least two body surface electromagnetic identifications of upper fixed setting and at least six markers, wherein at least two fixed electromagnetism with body surface In mark, the positional relationship between each electromagnetic identification and at least three non-colinear markers is fixed, and each marker is most Mostly there is fixed positional relationship with an electromagnetic identification.
Established between body surface electromagnetic identification and marker fixed positional relationship mode can there are many, for example, can be with Body surface electromagnetic identification and marker are mounted on some object, and the object is pasted onto body surface；Either by body surface electromagnetism Mark is pasted on body surface, and marker is fixed in the body surface electromagnetic identification etc..
Optionally, at least two body surface electromagnetic identifications fixed with body surface are pasted on body surface, and marker is fixed at The surface of at least two body surfaces electromagnetic identification.
Specifically, two body surface electromagnetic identifications can at least will be pasted on body surface with medical adhesive tape, then again will with it is every The surface that a body surface electromagnetic identification has the marker of fixed positional relationship that at least two body surfaces electromagnetic identification is arranged in, in this way Also on the basis of fixed positional relationship can be established between body surface electromagnetic identification and marker, so that body surface electromagnetic identification and label Object is moved with body surface.
Optionally, the body surface electromagnetic identification fixed with body surface and marker are mounted on the electromagnetism tracking for being set to body surface On pedestal.
An at least electromagnetism tracking marker and at least three label levels can be respectively set on electromagnetism tracking pedestal, with Body surface electromagnetic identification and marker are fixed respectively, and establish fixed position between body surface electromagnetic identification and marker Relationship, on the basis of not influencing electromagnetism tracing equipment and being tracked and identified to body surface electromagnetic identification, so that body surface electromagnetic identification and mark Note object can follow body surface to move.
In actual mechanical process, sucker can also be set on body surface, so that electromagnetism tracking pedestal is fixed with body surface, The embodiment of the present application is not especially limited the mode that fixed positional relationship is established between body surface electromagnetic identification and marker, only Being able to satisfy body surface electromagnetic identification and marker can fix with body surface, and not influence electromagnetism tracing equipment to body surface electromagnetic identification Real-time tracking identification.
It is described previously to obtain the process of the transformational relation between three-dimensional system of coordinate and electromagnetism coordinate system, in order to final Obtain the transformational relation between ultrasound coordinates system and three-dimensional system of coordinate, it is also necessary to determine between ultrasound coordinates system and electromagnetism coordinate system Transformational relation.
Optionally, according to the positional relationship and electromagnetism between the electromagnetic identification and ultrasonic probe being arranged on ultrasonic probe Tracing equipment establishes the step of the transformational relation between ultrasound coordinates system and electromagnetism coordinate system to the real-time tracing of the electromagnetic identification Suddenly specifically:
According to ultrasonic probe and the positional relationship being fixed between the electromagnetic identification on ultrasonic probe, ultrasound coordinates system is obtained And the transformational relation identified between coordinate system that the electromagnetic identification being fixed on ultrasonic probe is possessed；
According to electromagnetism tracing equipment to the real-time tracking of the electromagnetic identification, obtain mark coordinate system and electromagnetism coordinate system it Between transformational relation；
According to ultrasound coordinates system and mark coordinate system between transformational relation, and mark coordinate system and electromagnetism coordinate system it Between transformational relation, obtain the transformational relation between ultrasound coordinates system and electromagnetism coordinate system.
Since probe electromagnetic identification is fixed on ultrasonic probe, it can be visited by probe electromagnetic identification and ultrasound Fixed positional relationship obtains the transformational relation between probe identity coordinate system and ultrasound coordinates system between head, further, knot Close by electromagnetism tracing equipment to the obtained electromagnetism coordinate system of real-time tracking and probe identity coordinate system of electromagnetic identification of popping one's head in it Between transformational relation, the transformational relation between available ultrasound coordinates system and electromagnetism coordinate system.
It to sum up, is conversion intermediary with electromagnetism coordinate system, according to the transformational relation between three-dimensional system of coordinate and electromagnetism coordinate system, And the transformational relation between ultrasound coordinates system and electromagnetism coordinate system, it can be established between ultrasound coordinates system and three-dimensional system of coordinate Transformational relation.
S200: according to the transformational relation between ultrasound coordinates system and three-dimensional system of coordinate, ultrasound image and 3-D image are united One to the image under the same coordinate system, after obtaining ultrasound image and 3-D image real time fusion.
, can be unified into ultrasound coordinates system by ultrasound image and 3-D image during realization, it can also uniformly arrive It unites in the embodiment of the present application to by ultrasound image and 3-D image in three-dimensional system of coordinate, or uniformly into electromagnetism coordinate system ... One is not especially limited into which coordinate system, as long as ultrasound image and 3-D image is unified into the same coordinate system, Image after capable of obtaining ultrasound image and 3-D image real time fusion as shown in Figure 5.
Further, according to the transformational relation between ultrasound coordinates system and three-dimensional system of coordinate, by ultrasound image and three-dimensional figure As the image under unification to the same coordinate system, after obtaining ultrasound image and 3-D image real time fusion specifically:
According to coordinate of the pixel each in ultrasound image under ultrasound coordinates system, each pixel is sat in three-dimensional in 3-D image Transformational relation between mark system lower coordinate and ultrasound coordinates system and three-dimensional system of coordinate, by pixel each in ultrasound image with In 3-D image under each pixel unification to the same coordinate system, the real time position relationship of ultrasound image and 3-D image is obtained, and Image co-registration is carried out according to the real time position relationship of ultrasound image and 3-D image, ultrasound image is obtained and 3-D image melts in real time Image after conjunction.
Optionally, since each pixel in ultrasound image has corresponding coordinate under ultrasound coordinates system, in addition Obtain the transformational relation between ultrasound coordinates system and three-dimensional system of coordinate, therefore, according to ultrasound coordinates system and three-dimensional system of coordinate it Between transformational relation and ultrasound image in coordinate of each pixel under ultrasound coordinates system, in available ultrasound image Coordinate of each pixel in 3-D image, after obtaining coordinate of each pixel in 3-D image in ultrasound image, Can be obtained by ultrasound image and the fused image of 3-D image, so ultrasound image and 3-D image can be combined into Row is shown.
Similarly, since each pixel in 3-D image has corresponding coordinate under three-dimensional system of coordinate, in addition Obtain the transformational relation between ultrasound coordinates system and three-dimensional system of coordinate, therefore, according to ultrasound coordinates system and three-dimensional system of coordinate it Between transformational relation and 3-D image in coordinate of each pixel under three-dimensional system of coordinate, in available 3-D image Coordinate of each pixel in ultrasound image, after obtaining coordinate of each pixel in ultrasound image in 3-D image, Can be obtained by ultrasound image and the fused image of 3-D image, so ultrasound image and 3-D image can be combined into Row is shown.
It should be noted that transformational relation and three-dimensional system of coordinate and electromagnetism between ultrasound coordinates system and electromagnetism coordinate system Transformational relation between coordinate system be all as the movement of body surface and the movement of ultrasonic probe change at any time, therefore ultrasound sit Transformational relation between mark system and three-dimensional system of coordinate changes at any time also with the movement of body surface and the movement of ultrasonic probe.In turn Carried out on the basis of ultrasound coordinates system and three-dimensional system of coordinate transformational relation ultrasound image and 3-D image fusion be also with The movement of body surface and the movement of ultrasonic probe change at any time, therefore, also can be quasi- even if human body is breathed Really obtain the real space position of each internal organs in body.
As shown in Fig. 2, being based on same inventive concept, the embodiment of the present application also provides a kind of image fusion device, packets Include three-D ultrasonic transformational relation module 201 and three-dimensional ultrasound pattern Fusion Module 202, wherein
Three-D ultrasonic transformational relation module 201 is connect with three-dimensional ultrasound pattern Fusion Module 202, is used for: being chased after using electromagnetism Track equipment, electromagnetic identification and marker, establish transformational relation between ultrasound coordinates system and three-dimensional system of coordinate, and by ultrasound coordinates Transformational relation between system and three-dimensional system of coordinate is sent to three-dimensional ultrasound pattern Fusion Module 202；
Three-dimensional ultrasound pattern Fusion Module 202 is connect with three-D ultrasonic transformational relation module 201, is used for: according to receiving Ultrasound coordinates system and three-dimensional system of coordinate between transformational relation, ultrasound image and 3-D image is unified to the same coordinate system Under, the image after obtaining ultrasound image and 3-D image real time fusion.
Optionally, three-D ultrasonic transformational relation module 201 includes 3 D electromagnetic transformational relation module, and ultrasonic electromagnetic conversion is closed It is module and three-D ultrasonic transformational relation module, wherein；
3 D electromagnetic transformational relation module is connected with three-D ultrasonic transformational relation module, is used for:
According to the positional relationship between the marker that body surface is arranged in and electromagnetic identification corresponding with marker, electromagnetism Three-dimensional sit is established in position of the tracing equipment to the real-time tracing and the marker of the electromagnetic identification in 3-D image Transformational relation between mark system and electromagnetism coordinate system, and send the transformational relation between three-dimensional system of coordinate and electromagnetism coordinate system to Three-D ultrasonic transformational relation module；
Ultrasonic electromagnetism transformational relation module is connected with three-D ultrasonic transformational relation module, is used for:
According to the positional relationship and electromagnetism tracing equipment between the electromagnetic identification and ultrasonic probe being arranged on ultrasonic probe To the real-time tracing of the electromagnetic identification, the transformational relation between ultrasound coordinates system and electromagnetism coordinate system is established, and ultrasound is sat Transformational relation between mark system and electromagnetism coordinate system is sent to three-D ultrasonic transformational relation module；
Three-D ultrasonic transformational relation module is connected with 3 D electromagnetic transformational relation module and ultrasonic electromagnetism transformational relation module, For:
According to the transformational relation and ultrasound coordinates system and electromagnetism between the three-dimensional system of coordinate received and electromagnetism coordinate system Transformational relation between coordinate system establishes transformational relation between ultrasound coordinates system and three-dimensional system of coordinate.
Optionally, 3 D electromagnetic transformational relation module further includes mark coordinate unit, identifies electromagnetic conversion relation unit, electricity Magnetic coordinate unit, 3 D electromagnetic transformational relation unit, in which:
Mark coordinate unit is connect with electromagnetism coordinate unit, for according to the marker and electromagnetism being arranged on body surface Positional relationship between mark obtains marker under the mark coordinate system that the electromagnetic identification being arranged on body surface is possessed Coordinate, and coordinate of the marker in the case where identifying coordinate system is sent to electromagnetism coordinate unit；
Mark electromagnetic conversion relation unit is connect with electromagnetism coordinate unit, is used for according to electromagnetism tracing equipment to the electromagnetism The real-time tracing of mark obtains the transformational relation between mark coordinate system and electromagnetism coordinate system, and mark coordinate system and electromagnetism Transformational relation between coordinate system is sent to electromagnetism coordinate unit；
Electromagnetism coordinate unit is connected with mark coordinate unit and mark electromagnetic conversion relation unit, is received for basis Transformational relation between coordinate of the marker in the case where identifying coordinate system, and mark coordinate system and electromagnetism coordinate system, obtains marker Coordinate under electromagnetism coordinate system, and coordinate of the marker under electromagnetism coordinate system is sent to 3 D electromagnetic transformational relation list Member；
3 D electromagnetic transformational relation unit is connected with electromagnetism coordinate unit, for the position according to marker in 3-D image Coordinate of the obtained marker under three-dimensional system of coordinate is set, and coordinate of the marker received under electromagnetism coordinate system, Establish the transformational relation between three-dimensional system of coordinate and electromagnetism coordinate system.
Optionally, ultrasonic electromagnetism transformational relation module includes: ultrasonic signals transformational relation unit, identifies electromagnetic conversion relationship Unit and ultrasonic electromagnetism transformational relation unit, in which:
Ultrasonic signals transformational relation unit is connected with ultrasonic electromagnetism transformational relation unit, is used for:
According to ultrasonic probe and the positional relationship being fixed between the electromagnetic identification on ultrasonic probe, ultrasound coordinates system is obtained Transformational relation between the mark coordinate system that is possessed of the electromagnetic identification being fixed on ultrasonic probe, and ultrasound coordinates system and Transformational relation between mark coordinate system is sent to ultrasonic electromagnetism transformational relation unit；
Mark electromagnetic conversion relation unit is connected with ultrasonic electromagnetism transformational relation unit, is used for:
According to electromagnetism tracing equipment to the real-time tracking of the electromagnetic identification, obtain mark coordinate system and electromagnetism coordinate system it Between transformational relation, and the transformational relation between mark coordinate system and electromagnetism coordinate system is sent to ultrasonic electromagnetism transformational relation list Member；
Ultrasonic electromagnetism transformational relation unit and ultrasonic signals transformational relation unit and mark electromagnetic conversion relation unit connect It connects, is used for:
According to the transformational relation between the ultrasound coordinates system received and mark coordinate system, and mark coordinate system and electromagnetism Transformational relation between coordinate system obtains the transformational relation between ultrasound coordinates system and electromagnetism coordinate system.
Optionally, in image fusion device, the position between marker and the electromagnetic identification that body surface is arranged in is closed System specifically:
With body surface at least two fixed electromagnetic identifications, at least one electromagnetic identification and at least three non-colinears Marker between positional relationship fix, and at most there is fixed positional relationship with electromagnetic identification in each marker, At least there is fixed positional relationship with a marker in each electromagnetic identification.
Optionally, in image fusion device, the position between marker and the electromagnetic identification that body surface is arranged in is closed System specifically:
With body surface at least two fixed electromagnetic identifications, each electromagnetic identification and at least three non-colinear labels Positional relationship between object is fixed, and each marker at most has fixed positional relationship with an electromagnetic identification.
Optionally, three-dimensional ultrasound pattern Fusion Module 202 is specifically used for:
According to coordinate of the pixel each in ultrasound image under ultrasound coordinates system, each pixel is sat in three-dimensional in 3-D image Transformational relation between mark system lower coordinate and ultrasound coordinates system and three-dimensional system of coordinate, by pixel each in ultrasound image with In 3-D image under each pixel unification to the same coordinate system, the real time position relationship of ultrasound image and 3-D image is obtained, and Image co-registration is carried out according to the real time position relationship of ultrasound image and 3-D image, ultrasound image is obtained and 3-D image melts in real time Image after conjunction.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment The part of load, reference can be made to the related descriptions of other embodiments.
Those of ordinary skill in the art may be aware that function described in conjunction with the examples disclosed in the embodiments of the present disclosure Can module and method and step, can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions It is implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Professional technique Personnel can specifically realize described function to each using distinct methods, but this realization is it is not considered that super The scope of the present invention out.
In embodiment provided by the present invention, it should be understood that disclosed device and method can pass through others Mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of above-mentioned module or unit, Only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components can be with In conjunction with or be desirably integrated into another system, or some features can be ignored or not executed.Another point, it is shown or discussed Mutual coupling or direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING of device or unit or Communication connection can be electrical property, mechanical or other forms.
Above-mentioned unit as illustrated by the separation member may or may not be physically separated, aobvious as unit The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme 's.
If above-mentioned integrated unit is realized in the form of SFU software functional unit and sells or use as independent product When, it can store in a computer readable storage medium.Based on this understanding, the present invention realizes above-described embodiment side All or part of the process in method can also instruct relevant hardware to complete, above-mentioned computer by computer program Program can be stored in a computer readable storage medium, and the computer program is when being executed by processor, it can be achieved that above-mentioned each The step of a embodiment of the method.Wherein, above-mentioned computer program includes computer program code, and above-mentioned computer program code can Think source code form, object identification code form, executable file or certain intermediate forms etc..Above-mentioned computer readable storage medium It may include: any entity or device, recording medium, USB flash disk, mobile hard disk, magnetic that can carry above-mentioned computer program code Dish, CD, computer storage, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that above-mentioned It is appropriate that the content that computer readable storage medium includes can be carried out according to the requirement made laws in jurisdiction with patent practice Increase and decrease, such as do not include electric carrier wave according to legislation and patent practice, computer readable storage medium in certain jurisdictions Signal and telecommunication signal.
Above-described embodiment is merely illustrative of the technical solution of the present invention, rather than its limitations.Although the application has been described The preferred embodiment of embodiment, but one of ordinary skilled in the art once knows basic creative concept, then it can be to this A little embodiments make other change and modification.So the following claims are intended to be interpreted as including preferred embodiment and falls Enter all change and modification of the embodiment of the present application range.Obviously, those skilled in the art can to the embodiment of the present application into Spirit and scope of the various modification and variations of row without departing from the embodiment of the present application.If in this way, these of the embodiment of the present application Modifications and variations belong within the scope of the embodiment of the present application claim and its equivalent technologies, then the embodiment of the present application is also intended to It includes these modifications and variations.

Claims (14)

1. a kind of image interfusion method characterized by comprising
Using electromagnetism tracing equipment, electromagnetic identification and marker, conversion is established between ultrasound coordinates system and three-dimensional system of coordinate and is closed System；
It is according to the transformational relation between ultrasound coordinates system and three-dimensional system of coordinate, ultrasound image and 3-D image is unified to same seat Under mark system, the image after obtaining ultrasound image and 3-D image real time fusion.
2. image interfusion method according to claim 1, which is characterized in that described to utilize electromagnetism tracing equipment, magnet signal Know and marker, the step of establishing transformational relation between ultrasound coordinates system and three-dimensional system of coordinate include:
According to the positional relationship between the marker that body surface is arranged in and electromagnetic identification corresponding with marker, electromagnetism tracking Position of the equipment to the real-time tracing and the marker of the electromagnetic identification in 3-D image, establishes three-dimensional system of coordinate Transformational relation between electromagnetism coordinate system；
According between the electromagnetic identification and ultrasonic probe being arranged on ultrasonic probe positional relationship and electromagnetism tracing equipment to institute The real-time tracing for stating electromagnetic identification establishes the transformational relation between ultrasound coordinates system and electromagnetism coordinate system；
According between the transformational relation and ultrasound coordinates system and electromagnetism coordinate system between three-dimensional system of coordinate and electromagnetism coordinate system Transformational relation establishes transformational relation between ultrasound coordinates system and three-dimensional system of coordinate.
3. image interfusion method according to claim 2, which is characterized in that according to the marker that body surface is arranged in and Positional relationship between electromagnetic identification corresponding with marker, electromagnetism tracing equipment to the real-time tracing of the electromagnetic identification, with And position of the marker in 3-D image, the transformational relation established between three-dimensional system of coordinate and electromagnetism coordinate system include:
According to the positional relationship being arranged between the marker and electromagnetic identification on body surface, obtains marker and be arranged in people Coordinate under the mark coordinate system that electromagnetic identification on body body surface is possessed；
According to electromagnetism tracing equipment to the real-time tracing of the electromagnetic identification, obtain between mark coordinate system and electromagnetism coordinate system Transformational relation；
According to the transformational relation between coordinate of the marker in the case where identifying coordinate system, and mark coordinate system and electromagnetism coordinate system, obtain To coordinate of the marker under electromagnetism coordinate system；
According to coordinate and marker of the obtained marker in position of the marker in 3-D image under three-dimensional system of coordinate Coordinate under electromagnetism coordinate system establishes the transformational relation between three-dimensional system of coordinate and electromagnetism coordinate system.
4. image interfusion method according to claim 2, which is characterized in that according to the electromagnetic identification being arranged on ultrasonic probe Positional relationship and electromagnetism tracing equipment between ultrasonic probe are established ultrasound and are sat to the real-time tracing of the electromagnetic identification The step of mark is the transformational relation between electromagnetism coordinate system specifically: according to ultrasonic probe and the electricity being fixed on ultrasonic probe Positional relationship between magnetic mark, obtains ultrasound coordinates system and mark that the electromagnetic identification that is fixed on ultrasonic probe is possessed is sat Transformational relation between mark system；According to electromagnetism tracing equipment to the real-time tracking of the electromagnetic identification, obtain mark coordinate system and Transformational relation between electromagnetism coordinate system；
According to the transformational relation between ultrasound coordinates system and mark coordinate system, and between mark coordinate system and electromagnetism coordinate system Transformational relation obtains the transformational relation between ultrasound coordinates system and electromagnetism coordinate system.
5. image interfusion method according to claim 1 or 2 or 3 or 4, which is characterized in that marker and setting are in human body Positional relationship between the electromagnetic identification of body surface specifically:
With body surface at least two fixed electromagnetic identifications, at least one electromagnetic identification and at least three non-colinear marks Positional relationship between note object is fixed, and each marker at most has fixed positional relationship with an electromagnetic identification, each At least there is fixed positional relationship with a marker in electromagnetic identification.
6. image interfusion method according to claim 1 or 2 or 3 or 4, which is characterized in that marker and setting are in human body Positional relationship between the electromagnetic identification of body surface specifically:
With body surface at least two fixed electromagnetic identifications, each electromagnetic identification and at least three non-colinear markers it Between positional relationship fix, and at most there is fixed positional relationship with electromagnetic identification in each marker.
7. image interfusion method according to claim 1, which is characterized in that described according to ultrasound coordinates system and three-dimensional coordinate Transformational relation between system obtains ultrasound image and three-dimensional figure under ultrasound image and 3-D image unification to the same coordinate system As the image after real time fusion specifically:
According to coordinate of the pixel each in ultrasound image under ultrasound coordinates system, each pixel is in three-dimensional system of coordinate in 3-D image Under coordinate and ultrasound coordinates system and three-dimensional system of coordinate between transformational relation, by pixel each in ultrasound image and three-dimensional Each pixel is unified under the same coordinate system, obtaining the real time position relationship of ultrasound image and 3-D image in image, and according to The real time position relationship of ultrasound image and 3-D image carries out image co-registration, after obtaining ultrasound image and 3-D image real time fusion Image.
8. a kind of image fusion device, which is characterized in that melt including three-D ultrasonic transformational relation module and three-dimensional ultrasound pattern Mold block, wherein
Three-D ultrasonic transformational relation module is connect with three-dimensional ultrasound pattern Fusion Module, is used for:
Using electromagnetism tracing equipment, electromagnetic identification and marker are established conversion between ultrasound coordinates system and three-dimensional system of coordinate and are closed System, and the transformational relation between ultrasound coordinates system and three-dimensional system of coordinate is sent to three-dimensional ultrasound pattern Fusion Module；
Three-dimensional ultrasound pattern Fusion Module is connect with three-D ultrasonic transformational relation module, is used for:
It is according to the transformational relation between the ultrasound coordinates system received and three-dimensional system of coordinate, ultrasound image and 3-D image is unified Image under the same coordinate system, after obtaining ultrasound image and 3-D image real time fusion.
9. image fusion device according to claim 8, which is characterized in that the three-D ultrasonic transformational relation module includes 3 D electromagnetic transformational relation module, ultrasonic electromagnetism transformational relation module and three-D ultrasonic transformational relation module, wherein
3 D electromagnetic transformational relation module is connected with three-D ultrasonic transformational relation module, is used for:
According to the positional relationship between the marker that body surface is arranged in and electromagnetic identification corresponding with marker, electromagnetism tracking Position of the equipment to the real-time tracing and the marker of the electromagnetic identification in 3-D image, establishes three-dimensional system of coordinate Transformational relation between electromagnetism coordinate system, and three-dimensional is sent by the transformational relation between three-dimensional system of coordinate and electromagnetism coordinate system Ultrasound transfer relationship module；
Ultrasonic electromagnetism transformational relation module is connected with three-D ultrasonic transformational relation module, is used for:
According between the electromagnetic identification and ultrasonic probe being arranged on ultrasonic probe positional relationship and electromagnetism tracing equipment to institute The real-time tracing for stating electromagnetic identification, establishes the transformational relation between ultrasound coordinates system and electromagnetism coordinate system, and by ultrasound coordinates system Transformational relation between electromagnetism coordinate system is sent to three-D ultrasonic transformational relation module；
Three-D ultrasonic transformational relation module is connected with 3 D electromagnetic transformational relation module and ultrasonic electromagnetism transformational relation module, is used In:
According to the transformational relation and ultrasound coordinates system and electromagnetism coordinate between the three-dimensional system of coordinate received and electromagnetism coordinate system Transformational relation between system establishes transformational relation between ultrasound coordinates system and three-dimensional system of coordinate.
10. image fusion device according to claim 9, which is characterized in that 3 D electromagnetic transformational relation module further includes Coordinate unit is identified, electromagnetic conversion relation unit, electromagnetism coordinate unit, 3 D electromagnetic transformational relation unit are identified, in which:
Mark coordinate unit is connect with electromagnetism coordinate unit, for according to the marker and electromagnetic identification being arranged on body surface Between positional relationship, obtain marker the electromagnetic identification being arranged on body surface possessed mark coordinate system under seat Mark, and coordinate of the marker in the case where identifying coordinate system is sent to electromagnetism coordinate unit；
Mark electromagnetic conversion relation unit is connect with electromagnetism coordinate unit, is used for according to electromagnetism tracing equipment to the electromagnetic identification Real-time tracing, the transformational relation between mark coordinate system and electromagnetism coordinate system is obtained, and mark coordinate system and electromagnetism coordinate Transformational relation between system is sent to electromagnetism coordinate unit；
Electromagnetism coordinate unit is connected with mark coordinate unit and mark electromagnetic conversion relation unit, for according to the label received Transformational relation between coordinate of the object in the case where identifying coordinate system, and mark coordinate system and electromagnetism coordinate system, obtains marker in electricity Coordinate under magnetic coordinate system, and coordinate of the marker under electromagnetism coordinate system is sent to 3 D electromagnetic transformational relation unit；
3 D electromagnetic transformational relation unit is connected with electromagnetism coordinate unit, for the position institute according to marker in 3-D image Coordinate of the obtained marker under three-dimensional system of coordinate, and the coordinate of the marker that receives under electromagnetism coordinate system, are established Transformational relation between three-dimensional system of coordinate and electromagnetism coordinate system.
11. image fusion device according to claim 9, which is characterized in that ultrasonic electromagnetism transformational relation module includes: super Tone mark knows transformational relation unit, mark electromagnetic conversion relation unit and ultrasonic electromagnetism transformational relation unit, in which:
Ultrasonic signals transformational relation unit is connected with ultrasonic electromagnetism transformational relation unit, is used for:
According to ultrasonic probe and the positional relationship being fixed between the electromagnetic identification on ultrasonic probe, obtains ultrasound coordinates system and consolidate The transformational relation between mark coordinate system that the electromagnetic identification being scheduled on ultrasonic probe is possessed, and ultrasound coordinates system and mark Transformational relation between coordinate system is sent to ultrasonic electromagnetism transformational relation unit；
Mark electromagnetic conversion relation unit is connected with ultrasonic electromagnetism transformational relation unit, is used for:
According to electromagnetism tracing equipment to the real-time tracking of the electromagnetic identification, obtain between mark coordinate system and electromagnetism coordinate system Transformational relation, and the transformational relation between mark coordinate system and electromagnetism coordinate system is sent to ultrasonic electromagnetism transformational relation unit；
Ultrasonic electromagnetism transformational relation unit is connected with ultrasonic signals transformational relation unit and mark electromagnetic conversion relation unit, is used In:
According to the transformational relation between the ultrasound coordinates system received and mark coordinate system, and mark coordinate system and electromagnetism coordinate Transformational relation between system obtains the transformational relation between ultrasound coordinates system and electromagnetism coordinate system.
12. according to image fusion device described in claim 8 or 9 or 10 or 11, which is characterized in that marker and setting are in people Positional relationship between the electromagnetic identification of body body surface specifically:
With body surface at least two fixed electromagnetic identifications, at least one electromagnetic identification and at least three non-colinear marks Positional relationship between note object is fixed, and each marker at most has fixed positional relationship with an electromagnetic identification, each At least there is fixed positional relationship with a marker in electromagnetic identification.
13. according to image fusion device described in claim 8 or 9 or 10 or 11, which is characterized in that marker and setting are in people Positional relationship between the electromagnetic identification of body body surface specifically:
With body surface at least two fixed electromagnetic identifications, each electromagnetic identification and at least three non-colinear markers it Between positional relationship fix, and at most there is fixed positional relationship with electromagnetic identification in each marker.
14. image fusion device according to claim 8, which is characterized in that three-dimensional ultrasound pattern Fusion Module is specifically used In:
According to coordinate of the pixel each in ultrasound image under ultrasound coordinates system, each pixel is in three-dimensional system of coordinate in 3-D image Under coordinate and ultrasound coordinates system and three-dimensional system of coordinate between transformational relation, by pixel each in ultrasound image and three-dimensional Each pixel is unified under the same coordinate system, obtaining the real time position relationship of ultrasound image and 3-D image in image, and according to The real time position relationship of ultrasound image and 3-D image carries out image co-registration, after obtaining ultrasound image and 3-D image real time fusion Image.
CN201810330209.2A 2018-04-13 2018-04-13 Image fusion method and device Active CN110368027B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810330209.2A CN110368027B (en) 2018-04-13 2018-04-13 Image fusion method and device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201810330209.2A CN110368027B (en) 2018-04-13 2018-04-13 Image fusion method and device

Publications (2)

Publication Number Publication Date
CN110368027A true CN110368027A (en) 2019-10-25
CN110368027B CN110368027B (en) 2022-02-18

Family

ID=68243941

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201810330209.2A Active CN110368027B (en) 2018-04-13 2018-04-13 Image fusion method and device

Country Status (1)

Country Link
CN (1) CN110368027B (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113160221A (en) * 2021-05-14 2021-07-23 深圳市奥昇医疗科技有限责任公司 Image processing method, image processing device, computer equipment and storage medium

Citations (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1524626A2 (en) * 2003-07-14 2005-04-20 Sunnybrook & Women's College Health Sciences Centre Optical image-based position tracking for magnetic resonance imaging
US20070211927A1 (en) * 2006-03-09 2007-09-13 General Electric Company Methods and systems for registration of surgical navigation data and image data
CN101108140A (en) * 2007-09-05 2008-01-23 新奥博为技术有限公司 Calibration mould used for image navigation operation system and calibration method thereof
EP1936569A1 (en) * 2006-12-21 2008-06-25 DePuy Products, Inc. System for registering a bone of a patient with a computer assisted orthopaedic surgery system
CN101336831A (en) * 2008-08-13 2009-01-07 汕头超声仪器研究所 Rebuilding method of real-time three-dimensional medical ultrasonic image
CN101569541A (en) * 2008-04-29 2009-11-04 香港理工大学 Three-dimensional ultrasonic imaging system
CN101681504A (en) * 2006-11-27 2010-03-24 皇家飞利浦电子股份有限公司 System and method for fusing real-time ultrasound images with pre-acquired medical images
CN101862205A (en) * 2010-05-25 2010-10-20 中国人民解放军第四军医大学 Intraoperative tissue tracking method combined with preoperative image
CN102138808A (en) * 2010-02-03 2011-08-03 株式会社东芝 Ultrasonic diagnostic apparatus and medical image processing apparatus
CN102319117A (en) * 2011-06-16 2012-01-18 上海交通大学医学院附属瑞金医院 Arterial intervention implant implanting system capable of fusing real-time ultrasonic information based on magnetic navigation
US20130156281A1 (en) * 2010-08-31 2013-06-20 Yiyong Sun Image registration method
US20130261429A1 (en) * 2012-03-30 2013-10-03 Chi-Yin Lee Magnetic Resonance and Ultrasound Parametric Image Fusion
US20150030229A1 (en) * 2013-07-24 2015-01-29 Anja Borsdorf Methods for Updating 2D/3D Registration on Movement and Computing Device
CN104771232A (en) * 2015-05-05 2015-07-15 北京汇影互联科技有限公司 Electromagnetic positioning system and selection method for three-dimensional image view angle of electromagnetic positioning system
US20160361042A1 (en) * 2015-06-10 2016-12-15 Helmholtz Zentrum Muenchen Deutsches Forschungszentrum fuer Gesundheit und Umwelt (GmbH Device and method for hybrid optoacoustic tomography and ultrasonography
CN107157516A (en) * 2017-07-05 2017-09-15 四川省肿瘤医院 A kind of ultrasound scanning device
CN107714082A (en) * 2017-09-04 2018-02-23 北京航空航天大学 A kind of ultrasonic probe caliberating device and method based on optical alignment

Patent Citations (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1524626A2 (en) * 2003-07-14 2005-04-20 Sunnybrook & Women's College Health Sciences Centre Optical image-based position tracking for magnetic resonance imaging
US20070211927A1 (en) * 2006-03-09 2007-09-13 General Electric Company Methods and systems for registration of surgical navigation data and image data
CN101681504A (en) * 2006-11-27 2010-03-24 皇家飞利浦电子股份有限公司 System and method for fusing real-time ultrasound images with pre-acquired medical images
EP1936569A1 (en) * 2006-12-21 2008-06-25 DePuy Products, Inc. System for registering a bone of a patient with a computer assisted orthopaedic surgery system
CN101108140A (en) * 2007-09-05 2008-01-23 新奥博为技术有限公司 Calibration mould used for image navigation operation system and calibration method thereof
CN101569541A (en) * 2008-04-29 2009-11-04 香港理工大学 Three-dimensional ultrasonic imaging system
CN101336831A (en) * 2008-08-13 2009-01-07 汕头超声仪器研究所 Rebuilding method of real-time three-dimensional medical ultrasonic image
CN102138808A (en) * 2010-02-03 2011-08-03 株式会社东芝 Ultrasonic diagnostic apparatus and medical image processing apparatus
CN101862205A (en) * 2010-05-25 2010-10-20 中国人民解放军第四军医大学 Intraoperative tissue tracking method combined with preoperative image
US20130156281A1 (en) * 2010-08-31 2013-06-20 Yiyong Sun Image registration method
CN102319117A (en) * 2011-06-16 2012-01-18 上海交通大学医学院附属瑞金医院 Arterial intervention implant implanting system capable of fusing real-time ultrasonic information based on magnetic navigation
US20130261429A1 (en) * 2012-03-30 2013-10-03 Chi-Yin Lee Magnetic Resonance and Ultrasound Parametric Image Fusion
US20150030229A1 (en) * 2013-07-24 2015-01-29 Anja Borsdorf Methods for Updating 2D/3D Registration on Movement and Computing Device
CN104771232A (en) * 2015-05-05 2015-07-15 北京汇影互联科技有限公司 Electromagnetic positioning system and selection method for three-dimensional image view angle of electromagnetic positioning system
US20160361042A1 (en) * 2015-06-10 2016-12-15 Helmholtz Zentrum Muenchen Deutsches Forschungszentrum fuer Gesundheit und Umwelt (GmbH Device and method for hybrid optoacoustic tomography and ultrasonography
CN107157516A (en) * 2017-07-05 2017-09-15 四川省肿瘤医院 A kind of ultrasound scanning device
CN107714082A (en) * 2017-09-04 2018-02-23 北京航空航天大学 A kind of ultrasonic probe caliberating device and method based on optical alignment

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
陈锐锋: "陈锐锋", 《中国优秀硕士学位论文全文数据库 信息科技辑》 *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113160221A (en) * 2021-05-14 2021-07-23 深圳市奥昇医疗科技有限责任公司 Image processing method, image processing device, computer equipment and storage medium

Also Published As

Publication number Publication date
CN110368027B (en) 2022-02-18

Similar Documents

Publication Publication Date Title
WO2017185540A1 (en) Neurosurgical robot navigation positioning system and method
US10055848B2 (en) Three-dimensional image segmentation based on a two-dimensional image information
EP3238649B1 (en) Self-localizing medical device
CN103068318B (en) Automatic three dimensional aortic root is measured and modeling
CN108883294A (en) System and method for monitoring structure motion in entire radiotherapy
WO2007047677B1 (en) Configuration management system and method for use in an rfid system including a multiplicity of rfid readers
US20130184005A1 (en) System for detecting high-frequency transceivers and uses thereof
CN103649775A (en) System for evaluating identification marks, identification marks and use thereof
JP7080228B2 (en) Intelligent model-based patient positioning system for magnetic resonance imaging
WO2021185260A1 (en) Positioning tracking member, method for recognizing marker, storage medium, and electronic device
Węglarski et al. Factors affecting the synthesis of autonomous sensors with RFID interface
Huang et al. 2D ultrasound imaging based intra-fraction respiratory motion tracking for abdominal radiation therapy using machine learning
CN105979898B (en) Position determination system
CN110368027A (en) A kind of image interfusion method and device
CN110797112A (en) System and method for automatic graphical prescription using deep neural networks
Slagowski et al. A modular phantom and software to characterize 3D geometric distortion in MRI
CN108209916A (en) For showing the system and method for the medical image of the object of patient's body
Preiswerk et al. Open-source neuronavigation for multimodal non-invasive brain stimulation using 3D Slicer
Blanco-Angulo et al. Validation of an RF image system for real-time tracking neurosurgical tools
CN110368028A (en) A kind of Real-time Registration and device of space coordinates
Grimwood et al. Assisted probe positioning for ultrasound guided radiotherapy using image sequence classification
CN110368026A (en) A kind of operation auxiliary apparatus and system
US20230120638A1 (en) Augmented reality soft tissue biopsy and surgery system
AU2020279597B2 (en) Automated planning of shoulder stability enhancement surgeries
US10786180B2 (en) Intrafractional motion reduction system using audiovisual-aided interactive guidance and related methods thereof

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
TA01 Transfer of patent application right

Effective date of registration: 20210617

Address after: 100191 Room 608, 6 / F, building 9, 35 Huayuan North Road, Haidian District, Beijing

Applicant after: Beijing Baihui Wei Kang Technology Co.,Ltd.

Address before: 100191 506, 5th floor, building 9, 35 Huayuan North Road, Haidian District, Beijing

Applicant before: BEIJING REMEBOT MEDICAL ROBOT TECHNOLOGY Co.,Ltd.

TA01 Transfer of patent application right
GR01 Patent grant
GR01 Patent grant
CP03 Change of name, title or address

Address after: 100191 Room 501, floor 5, building 9, No. 35 Huayuan North Road, Haidian District, Beijing

Patentee after: Beijing Baihui Weikang Technology Co.,Ltd.

Address before: 100191 Room 608, 6 / F, building 9, 35 Huayuan North Road, Haidian District, Beijing

Patentee before: Beijing Baihui Wei Kang Technology Co.,Ltd.

CP03 Change of name, title or address