CN112150370B - Space compound imaging method and device - Google Patents
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- CN112150370B CN112150370B CN201910579569.0A CN201910579569A CN112150370B CN 112150370 B CN112150370 B CN 112150370B CN 201910579569 A CN201910579569 A CN 201910579569A CN 112150370 B CN112150370 B CN 112150370B
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- 238000003384 imaging method Methods 0.000 title claims abstract description 17
- 150000001875 compounds Chemical class 0.000 title claims abstract description 10
- 230000004927 fusion Effects 0.000 claims abstract description 42
- 238000006243 chemical reaction Methods 0.000 claims abstract description 12
- 238000003702 image correction Methods 0.000 claims abstract description 9
- 239000000523 sample Substances 0.000 claims abstract description 8
- 238000000034 method Methods 0.000 claims description 24
- 238000001914 filtration Methods 0.000 claims description 5
- 238000012545 processing Methods 0.000 claims description 5
- 239000012530 fluid Substances 0.000 claims description 2
- 238000013329 compounding Methods 0.000 abstract description 13
- 230000002411 adverse Effects 0.000 abstract description 4
- 230000000694 effects Effects 0.000 abstract description 4
- 238000002604 ultrasonography Methods 0.000 description 9
- 239000011159 matrix material Substances 0.000 description 7
- 238000005259 measurement Methods 0.000 description 7
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Classifications
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- G06T5/92—
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- 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
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- 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
- A61B8/5269—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving detection or reduction of artifacts
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/50—Image enhancement or restoration by the use of more than one image, e.g. averaging, subtraction
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- G06T5/70—
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10132—Ultrasound image
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20212—Image combination
- G06T2207/20221—Image fusion; Image merging
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30004—Biomedical image processing
Abstract
A spatial compound imaging method and apparatus comprising: and a data acquisition step: scanning the same position along different deflection directions by the probe to obtain ultrasonic images with different deflection angles; and a coordinate conversion step: converting the polar coordinate system of the ultrasonic image into a Cartesian coordinate system; and (3) image fusion: fusing the ultrasonic images through a Kalman space compounding algorithm to generate a fused image; an image correction step: and correcting the fusion image. The Kalman data fusion is introduced into ultrasonic image space compounding by utilizing the characteristics of the Kalman, so that adverse factors such as speckle noise and artifact of an ultrasonic image can be effectively restrained, and in addition, the Kalman data fusion dynamically programs a weighting coefficient according to the variance of related data, so that left bias data and right bias data are fused better, and noise reduction and fusion enhancement effects are achieved.
Description
Technical Field
The present application relates to image processing, and more particularly, to a spatial compound imaging method and apparatus.
Background
In recent years, with the continuous progress and development of medical technology, imaging technology has been rapidly developed. The ultrasonic technology is used as an important component of the medical imaging technology, has the characteristics of real-time performance, noninvasive performance, low cost, simple operation and the like in the practical application process, is widely applied clinically, and becomes one of the most common modes of medical diagnosis. The basic principle of ultrasonic imaging is that when ultrasonic pulse encounters an interface with changed acoustic impedance, reflected or scattered pulse signals are generated, and through receiving and processing the signals, images of organs in the body are obtained. Early diagnosis and treatment are therefore of paramount importance.
The prior ultrasonic composite imaging mode has the following defects: the problem of low signal-to-noise ratio exists after imaging; low resolution and low contrast problems; two-dimensional images present speckle noise and artifacts.
Disclosure of Invention
The application provides a space compound imaging method and a space compound imaging device.
According to a first aspect of the present application, there is provided a spatial compounding imaging method comprising:
and a data acquisition step: scanning the same position along different deflection directions by the probe to obtain ultrasonic images with different deflection angles;
and a coordinate conversion step: converting the polar coordinate system of the ultrasonic image into a Cartesian coordinate system;
and (3) image fusion: fusing the ultrasonic images through a Kalman space compounding algorithm to generate a fused image;
an image correction step: and correcting the fusion image.
According to a second aspect of the present application, there is provided a spatial compound imaging device comprising:
the data acquisition module is used for scanning the same position along different deflection directions by using the probe to acquire ultrasonic images with different deflection angles;
the coordinate conversion module is used for converting the polar coordinate system of the ultrasonic image into a Cartesian coordinate system;
the image fusion module is used for fusing the ultrasonic images through a Kalman space compounding algorithm to generate a fused image;
and the image correction module is used for correcting the fusion image.
According to a third aspect of the present application, there is provided an ultrasound doppler fluid signal processing device comprising:
a memory for storing a program;
and a processor for implementing the method as described above by executing the program stored in the memory.
According to a fourth aspect of the present application, there is provided a computer readable storage medium comprising a program executable by a processor to implement a method as described above.
Due to the adoption of the technical scheme, the beneficial effects of the application are that:
in the specific embodiment of the application, the method comprises the steps of fusing ultrasonic images through a Kalman space compounding algorithm, generating a fused image and correcting the fused image; the Kalman data fusion method has the advantages of super high timeliness, congenital advantages in the ultrasonic field and certain filtering effect on data, and the Kalman data fusion is introduced into ultrasonic image space compounding, so that adverse factors such as speckle noise and artifact of ultrasonic images can be effectively restrained by using the characteristics of the Kalman, and the problems of low resolution and low contrast are solved.
Drawings
FIG. 1 is a schematic diagram of a Kalman filtering process in the prior art;
FIG. 2 is a flow chart of a method of the present application in one embodiment;
FIG. 3 is a flow chart of image processing in one embodiment of the method of the present application;
FIG. 4 is a schematic diagram of program modules of the apparatus of the present application in one embodiment.
Detailed Description
The invention will be described in further detail below with reference to the drawings by means of specific embodiments. This application may be embodied in many different forms and is not limited to the implementations described in this example. The following detailed description is provided to facilitate a more thorough understanding of the present disclosure, in which words of upper, lower, left, right, etc., indicating orientations are used solely for the illustrated structure in the corresponding figures.
However, one skilled in the relevant art will recognize that the detailed description of one or more of the specific details may be omitted, or that other methods, components, or materials may be used. In some instances, some embodiments are not described or described in detail.
The numbering of the components itself, e.g. "first", "second", etc., is used herein merely to distinguish between the described objects and does not have any sequential or technical meaning.
Furthermore, the features and aspects described herein may be combined in any suitable manner in one or more embodiments. It will be readily understood by those skilled in the art that the steps or order of operation of the methods associated with the embodiments provided herein may also be varied. Thus, any order in the figures and examples is for illustrative purposes only and does not imply that a certain order is required unless explicitly stated that a certain order is required.
The specific method of Kalman filtering is as follows, and the system model is as follows:the formula is a state transition equation and a measurement equation respectively, wherein k represents time, x (k) is a state vector, z (k) is a measurement vector, matrix A is a state transition matrix of the system, matrix H is a measurement matrix of a sensor, v (k) is state noise, represents noise existing in the motion process of an ultrasonic probe, w (k) is measurement noise, represents noise introduced in the measurement process of the ultrasonic probeLet the variance of the system noise be Q and the variance of the measured noise be R. Fig. 1 is a schematic diagram of a kalman filter flow.
1. The k+1 moment state is deduced according to the k moment state, and the variance P of the state vector is updated:
P(k+1|k)＝AP(k)A T +Q
2. correcting the estimated value according to the measurement information, and correcting the variance:
P(k+1)＝(I-K(k+1)H k )P(k+1|k)
wherein the matrix K is the kalman gain:
the process can complete the state ground pushing from the moment k to the moment k+1, so that the real-time estimation of the state can be completed according to the measurement information of each moment as long as the initial state of the moment zero is given.
Embodiment one:
as shown in fig. 2 and 3, one embodiment of the spatial compound imaging method of the present application includes the following steps:
step 202: and a data acquisition step: the probe scans the same position along different deflection directions to acquire ultrasonic images with different deflection angles.
The pixel values outside the normal range of the ultrasound image are referred to as outliers, and typically, outliers refer to values outside the range of 3 standard deviations around the average value. Outliers in an image are classified into high outliers and low outliers, typically caused by strong and weak echoes of the organized reflection. For ultrasound, high outliers are typically blurred laterally, in the form of specular artifacts or noise. Low outliers typically occur in areas of shadows or lost reflection information, which is generally less common. The target is scanned from different angles and a set of pixel values obtained for the same target point are also different. For the above reasons, in the ultrasound field, multiple angles or multiple images are compositely imaged, which can effectively reduce blurring and artifacts, and can better visualize the ultrasound non-scannable partial region.
Further, step 202 may include obtaining left-hand images, non-hand images, and right-hand images from the hardware layer.
Step 204: and a coordinate conversion step: and converting the polar coordinate system of the ultrasonic image into a Cartesian coordinate system. For converting the data form into a real form, i.e. matrix-fan.
Step 206: and (3) image fusion: and fusing the ultrasonic images through a Kalman space compounding algorithm to generate a fused image.
When the Kalman fusion is carried out, the fusion is carried out according to the matrix array, and because the two-dimensional Kalman difficulty and the calculated amount are large, only the scanning data are needed to be used as each column in the coordinate conversion according to the actual requirement, and the initial value of the biggest part of the data after the coordinate conversion is 0, so that the Kalman fusion is inhibited to a certain extent from being too sensitive to the initial value.
Further, step 206 may include: carrying out Kalman data fusion on the left partial image and the right partial image to generate the fusion image
Step 208: an image correction step: and correcting the fusion image.
Further, step 208 may include:
and carrying out weighted superposition on the fused image and the unbiased image, wherein the weighting coefficients of the fused image and the unbiased image can be dynamically adjusted, and in the embodiment, the weighting coefficients of the fused image and the unbiased image are both 0.5.
The standard space compounding method has great inhibiting effect on artifact, blurring and abnormal value.
The Kalman data fusion is introduced into ultrasonic image space compounding by utilizing the characteristics of the Kalman, so that adverse factors such as speckle noise and artifact of an ultrasonic image can be effectively restrained, and in addition, the Kalman data fusion dynamically programs a weighting coefficient according to the variance of related data, so that left bias data and right bias data are fused better, and noise reduction and fusion enhancement effects are achieved.
Embodiment two:
as shown in fig. 4, one embodiment of the spatial composite imaging device of the present application includes a data acquisition module, a coordinate conversion module, an image fusion module, and an image correction module.
The data acquisition module is used for scanning the same position along different deflection directions by using the probe to acquire ultrasonic images with different deflection angles;
and the coordinate conversion module is used for converting the polar coordinate system of the ultrasonic image into a Cartesian coordinate system.
The pixel values outside the normal range of the ultrasound image are referred to as outliers, and typically, outliers refer to values outside the range of 3 standard deviations around the average value. Outliers in an image are classified into high outliers and low outliers, typically caused by strong and weak echoes of the organized reflection. For ultrasound, high outliers are typically blurred laterally, in the form of specular artifacts or noise. Low outliers typically occur in areas of shadows or lost reflection information, which is generally less common. The target is scanned from different angles and a set of pixel values obtained for the same target point are also different. For the above reasons, in the ultrasound field, multiple angles or multiple images are compositely imaged, which can effectively reduce blurring and artifacts, and can better visualize the ultrasound non-scannable partial region.
And the image fusion module is used for fusing the ultrasonic images through a Kalman space compounding algorithm to generate a fused image.
When the Kalman fusion is carried out, the fusion is carried out according to the matrix array, and because the two-dimensional Kalman difficulty and the calculated amount are large, only the scanning data are needed to be used as each column in the coordinate conversion according to the actual requirement, and the initial value of the biggest part of the data after the coordinate conversion is 0, so that the Kalman fusion is inhibited to a certain extent from being too sensitive to the initial value.
And the image correction module is used for correcting the fusion image.
The standard space compounding method has great inhibiting effect on artifact, blurring and abnormal value.
Further, the data acquisition module can also be used for acquiring left offset images, unbiased images and right offset images from the hardware layer.
Further, the image fusion module can be further used for carrying out Kalman data fusion on the left-side partial image and the right-side partial image to generate a fusion image.
Further, the image correction module may be further configured to perform weighted superposition on the fused image and the unbiased image. The weighting coefficients of the fused image and the unbiased image can be dynamically adjusted, and in this embodiment, the weighting coefficients of the fused image and the unbiased image are both 0.5.
The Kalman data fusion is introduced into ultrasonic image space compounding by utilizing the characteristics of the Kalman, so that adverse factors such as speckle noise and artifact of an ultrasonic image can be effectively restrained, and in addition, the Kalman data fusion dynamically programs a weighting coefficient according to the variance of related data, so that left bias data and right bias data are fused better, and noise reduction and fusion enhancement effects are achieved.
Embodiment III:
one embodiment of a spatial compound imaging device of the present application includes a memory and a processor.
A memory for storing a program;
a processor configured to implement the method in the first embodiment by executing a program stored in the memory.
Embodiment four:
a computer-readable storage medium including a program executable by a processor to implement the method of the first embodiment.
Those skilled in the art will appreciate that all or part of the steps of the various methods in the above embodiments may be implemented by a program to instruct related hardware, and the program may be stored in a computer readable storage medium, where the storage medium may include: read-only memory, random access memory, magnetic or optical disk, etc.
The foregoing is a further detailed description of the present application in connection with the specific embodiments, and it is not intended that the practice of the present application be limited to such descriptions. It will be apparent to those skilled in the art to which the present application pertains that several simple deductions or substitutions may be made without departing from the spirit of the present application.
Claims (10)
1. A method of spatially compounded imaging, comprising:
and a data acquisition step: scanning the same position along different deflection directions by the probe to obtain ultrasonic images with different deflection angles; wherein, the unbiased image is included;
and a coordinate conversion step: converting the polar coordinate system of the ultrasonic image into a Cartesian coordinate system;
and (3) image fusion: based on a Kalman filtering algorithm, fusing the ultrasonic images to generate a fused image;
an image correction step: and carrying out weighted superposition on the fusion image and the unbiased image.
2. The method of claim 1, wherein the data acquisition step comprises acquiring left-hand, non-hand, and right-hand images from a hardware layer.
3. The method of claim 2, wherein the image fusion step comprises:
and carrying out Kalman data fusion on the left-hand offset image and the right-hand offset image to generate the fusion image.
4. The method of claim 3, wherein,
and the weighting coefficients of the fusion image and the unbiased image are 0.5.
5. A spatial compound imaging apparatus, comprising:
the data acquisition module is used for scanning the same position along different deflection directions by using the probe to acquire ultrasonic images with different deflection angles; wherein, the unbiased image is included;
the coordinate conversion module is used for converting the polar coordinate system of the ultrasonic image into a Cartesian coordinate system;
the image fusion module is used for fusing the ultrasonic images based on a Kalman filtering algorithm to generate a fused image;
and the image correction module is used for carrying out weighted superposition on the fusion image and the unbiased image.
6. The apparatus of claim 5, wherein the data acquisition module is further configured to obtain a left-hand image, an unbiased image, and a right-hand image from a hardware layer.
7. The apparatus of claim 6, wherein the image fusion module is further configured to perform kalman data fusion on the left-hand image and the right-hand image to generate the fused image.
8. The apparatus of claim 7, wherein the weighting coefficients of the fused image and the unbiased image are each 0.5.
9. An ultrasonic doppler fluid signal processing device, comprising:
a memory for storing a program;
a processor for implementing the method according to any one of claims 1-4 by executing a program stored in said memory.
10. A computer readable storage medium comprising a program executable by a processor to implement the method of any one of claims 1-4.
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