CN112654301A

CN112654301A - Imaging method of spine and ultrasonic imaging system

Info

Publication number: CN112654301A
Application number: CN201880097198.6A
Authority: CN
Inventors: 贾洪飞; 梁天柱; 林穆清; 邹耀贤; 陈志杰
Original assignee: Shenzhen Mindray Bio Medical Electronics Co Ltd
Current assignee: Shenzhen Mindray Bio Medical Electronics Co Ltd
Priority date: 2018-12-28
Filing date: 2018-12-28
Publication date: 2021-04-13
Also published as: WO2020133236A1

Abstract

The embodiment of the application discloses a spine imaging method and an ultrasonic imaging system, which are used for automatically generating and displaying a target image of a target spine without manual selection, and the efficiency and accuracy of ultrasonic imaging are improved. The method can comprise the following steps: acquiring three-dimensional volume data of a target spine; determining a preset anatomical structure of the target spine from the three-dimensional volume data, wherein the preset anatomical structure of the target spine is a partial anatomical structure or a complete anatomical structure of the target spine; acquiring a target image of the preset anatomical structure, wherein the target image comprises at least one of a three-dimensional VR picture, a two-dimensional tangent plane picture and a multi-surface reconstruction CMPR picture; and displaying the target image.

Description

Imaging method of spine and ultrasonic imaging system

Technical Field

The present application relates to the field of medical devices, and in particular, to a spine imaging method and an ultrasound imaging system.

Background

Ultrasonic examination has wide application in clinical examination due to its advantages of safety, convenience, no radiation, low cost, etc., and becomes one of the main auxiliary means for doctors to diagnose diseases. Doctors can observe the internal tissue structure of the human body through the ultrasonic imaging technology to carry out clinical auxiliary diagnosis.

Among them, the spine is a very important structure in fetal development and also an important part for prenatal examination. In recent years, three-dimensional ultrasound is widely applied to fetal spine examination, and has the advantages that three-dimensional volume data of a region of interest can be acquired through one-time scanning, any section in the three-dimensional volume data can be displayed, and images are visual. The three-dimensional data comprises spinal column three-dimensional data, and can help a doctor to more accurately position the abnormal segment of the spinal column.

However, after acquiring the spine three-dimensional volume data, the doctor needs to frequently and manually rotate and translate the spine three-dimensional volume data to reach a proper observation angle. Then, according to the anatomical structures of the vertebral arch, the vertebral body and the like in the spine, the size and the position of the region of interest (VOI) are manually adjusted, or the region of the vertebral arch and the vertebral body are manually selected by using the curved surface reconstruction (CMPR), so as to obtain a standard vertebral arch, vertebral body stereo (VR) image or a spine sagittal image. This entire procedure requires a certain amount of experience from the physician and is time consuming and laborious.

Disclosure of Invention

The embodiment of the application provides a spine imaging method and an ultrasonic imaging system, which are used for automatically generating and displaying a target image of a target spine without manual selection, and the efficiency and accuracy of ultrasonic imaging are improved.

In one aspect of the embodiments of the present application, there is provided a method for imaging a spine, including: acquiring three-dimensional volume data of a fetus; identifying an image region of the fetal spine from the three-dimensional volume data based on a feature of the fetal spine; acquiring a target image of the fetal spine according to the identified image area of the fetal spine, wherein the target image comprises at least one of a stereo VR picture, a two-dimensional sectional picture and a multi-surface reconstructed CMPR picture; and displaying the target image.

In one aspect of the embodiments of the present application, there is provided a method for imaging a spine, including: acquiring three-dimensional volume data of a scanning target; determining a preset anatomical structure of the target spine from the three-dimensional volume data, wherein the preset anatomical structure of the target spine is a partial anatomical structure or a complete anatomical structure of the target spine; acquiring a target image of the preset anatomical structure, wherein the target image comprises at least one of a three-dimensional VR picture, a two-dimensional tangent plane picture and a multi-surface reconstruction CMPR picture; and displaying the target image.

In one aspect of an embodiment of the present application, a method for imaging a spine includes: acquiring three-dimensional volume data of a fetus; identifying a spinal cone region from three-dimensional volume data of a fetus based on characteristics of the spinal cone of the fetus; determining the position of the spinal conical region according to the identified spinal conical region; displaying the location of the spinal conical region.

In one aspect of the embodiments of the present application, there is provided an ultrasound imaging system, including: the ultrasonic probe transmits ultrasonic waves to a scanning target and receives ultrasonic echoes to obtain ultrasonic echo signals; the processor obtains three-dimensional volume data of a target spine according to the ultrasonic echo signals and determines a preset anatomical structure of the target spine from the three-dimensional volume data, wherein the preset anatomical structure of the target spine is a partial anatomical structure or a whole anatomical structure of the target spine; acquiring a target image of the preset anatomical structure, wherein the target image comprises at least one of a three-dimensional VR picture, a two-dimensional tangent plane picture and a multi-surface reconstruction CMPR picture; a display that displays the target image.

In one aspect of the embodiments of the present application, there is provided an ultrasound imaging system, including: the ultrasonic probe transmits ultrasonic waves to a fetus and receives ultrasonic echoes to obtain ultrasonic echo signals; the processor acquires the three-dimensional volume data of the fetus according to the ultrasonic echo signal, identifies a spinal cone region from the three-dimensional volume data of the fetus based on the characteristics of the spinal cone of the fetus, and determines the position of the spinal cone region according to the identified spinal cone region; a display that displays a location of the conical region of the spinal cord.

In one aspect of the embodiments of the present application, there is provided a computer-readable storage medium having stored therein instructions, which when run on a computer, cause the computer to perform the method for imaging a spine as provided in the first aspect above.

In the technical solution provided in the embodiment of the present application, an ultrasound imaging system acquires three-dimensional volume data of a target spine, and determines a preset anatomical structure of the target spine from the three-dimensional volume data, where the preset anatomical structure may be a partial anatomical structure of the target spine or a complete structural structure of the target spine, for example, the preset anatomical structure may be a vertebral arch, a vertebral body, or the like in the target spine. Further, the ultrasonic imaging system acquires a target image of the preset anatomical structure and displays the target image, wherein the target image can be a VR image, a two-dimensional standard sectional image, a CMPR image and the like. Therefore, the ultrasonic imaging system can automatically acquire the target image of the preset anatomical structure of the target spine, the target image can be visually displayed without manual selection of a user, the ultrasonic imaging efficiency and accuracy are improved, a doctor is effectively helped to perform auxiliary disease diagnosis, and the working efficiency is improved.

Drawings

FIG. 1 is a block diagram of a possible ultrasound imaging system according to an embodiment of the present disclosure;

FIG. 2 is a schematic view of one embodiment of a method of imaging a spine in an embodiment of the present application;

FIG. 3 is a schematic representation of an interface display of three-dimensional volumetric data of a target spine according to an embodiment of the present application;

FIG. 4 is a schematic illustration of an interface display for determining a target spine in three-dimensional volumetric data according to an embodiment of the present application;

FIG. 5 is a VR map of a target spine in accordance with embodiments of the present application;

FIG. 6 is a two-dimensional cross-sectional view of a target spine in accordance with an embodiment of the present application;

FIG. 7a is a CMPR image of the target spine of the present example;

FIG. 7b is a CMPR image of the vertebral arch of the example of the present application;

FIG. 7c is a CMPR image of a vertebral body according to an embodiment of the present application;

fig. 8 is a schematic view of the conical region of the spinal cord in an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Fig. 1 is a schematic block diagram of an ultrasound imaging system 10 in an embodiment of the present application. The ultrasound imaging system 10 may include a probe 100, wherein the probe 100 may be an ultrasound probe, a transmit/receive selection switch 101, a transmit/receive sequence controller 102, a processor 103, a display 104. The transmit/receive sequence controller 102 may energize the ultrasound probe 100 to transmit ultrasound waves to the target spine and may also control the ultrasound probe 100 to receive ultrasound echoes returned from the target spine to obtain ultrasound echo signals/data. The processor 103 processes the ultrasound echo signals/data to obtain tissue-related parameters of the target spine and an ultrasound image. Ultrasound images obtained by the processor 103 may be stored in the memory 105 and displayed on the display 104. Of course, the ultrasound imaging system 10 may not include the probe 100, the transmit/receive selection switch 101, and the transmit/receive sequence controller 102, but only the processor 103 and the display 104. That is, the ultrasound image or related parameters of the target spine are directly obtained from other devices through the processor 103 and displayed through the display 104, which is not limited in detail here.

In this embodiment, the display 104 of the ultrasonic imaging system 10 may be a touch display screen, a liquid crystal display, or the like, or may be an independent display device such as a liquid crystal display, a television, or the like, which is independent of the ultrasonic imaging system 10, or may be a display screen on an electronic device such as a mobile phone, a tablet computer, or the like.

In an alternative embodiment of the present application, the probe 100 may be a three-dimensional (3-dimensional, 3D) ultrasound probe, which may also be referred to as a volume probe, and may receive ultrasound echo data returned from different angles of the target spine to obtain three-dimensional volume data of the target spine.

In an alternative embodiment of the present application, the probe 100 may also be a two-dimensional ultrasound probe, and the three-dimensional data of the target spine is acquired through the two-dimensional ultrasound probe, and the three-dimensional data of the target spine is acquired through controlling the two-dimensional ultrasound probe to move manually or through a motor or through a support arm.

In an alternative embodiment of the present application, the ultrasound imaging system 10 may further include a mechanical scanning device (not shown in FIG. 1). The mechanical scanning device can drive the probe 100 to move, so that the probe 100 can receive ultrasonic echo data returned from different angles of the target spine to obtain three-dimensional volume data of the target spine.

In an alternative embodiment of the present application, the probe 100 may be independent, or may be disposed on a mechanical scanning device, and the mechanical scanning device drives the probe 100 to move.

In an alternative embodiment of the present application, the acoustic head portion of the probe 100 may be an array of a plurality of two or more array elements. The array elements may be used to convert electrical signals into ultrasonic waves and transmit the ultrasonic waves, and to receive returned ultrasonic echoes, which are converted into electrical signals to obtain ultrasonic echo data/signals. The shape of the array can be linear arrangement, fan-shaped arrangement, and the like, and can be specifically adjusted according to actual application scenes. Each array element transmits ultrasonic waves or receives ultrasonic echoes by receiving the transmitting signals of the transmitting circuit and the receiving signals sent by the receiving circuit.

In an alternative embodiment of the present application, the memory 105 of the ultrasound imaging system 10 can be a flash memory card, a solid state memory, a hard disk, or the like.

In an alternative embodiment of the present application, a computer-readable storage medium is further provided, which stores a plurality of program instructions, and the program instructions, when invoked and executed by the processor 103, may perform some or all of the steps or any combination of the steps of the ultrasound imaging method of the spine in the various embodiments of the present application.

In an alternative embodiment of the present application, the computer readable storage medium may be the memory 105, which may be a non-volatile storage medium such as a flash memory card, a solid state memory, a hard disk, or the like.

In an alternative embodiment of the present application, the processor 103 of the ultrasound imaging system 10 may be implemented by software, hardware, firmware or a combination thereof, and may use circuits, single or multiple Application Specific Integrated Circuits (ASICs), single or multiple general purpose integrated circuits, single or multiple microprocessors, single or multiple programmable logic devices, or a combination of the foregoing circuits or devices, or other suitable circuits or devices, so that the processor 103 may execute the corresponding steps of the spine ultrasound imaging method in the various embodiments of the present application.

In a three-dimensional imaging system, three-dimensional visualization information generally includes a display of a slice (or called a profile, MPR) image and a display of a Volume Rendering (VR) image, where the VR image is an image obtained by Rendering three-dimensional Volume data by using a ray tracing method and the like, and the profile image is a plane where a current position is displayed in the three-dimensional Volume data. Generally, the clinical fetal spine examination needs to observe a spine standard VR diagram or a spine standard two-dimensional section diagram. To obtain a standard two-dimensional sectional view of the spine, the physician needs to adjust the orientation of the three-dimensional volume data of the fetal spine by adjusting X, Y, Z for translation and rotation, so that the target spine can be better displayed in the orientation; also, because the VR images are rendered within a region of Interest (VOI), to obtain a VR image of a standard target spine, a physician needs to adjust the size and position of the VOI in addition to the orientation of the three-dimensional Volume data of the target spine. Therefore, in the process of examining the spine by using three-dimensional ultrasound, doctors are often required to have deep understanding on the target spine and three-dimensional ultrasound adjustment, which greatly depends on the experience of the doctors, consumes the clinical examination time, and reduces the working efficiency of the doctors.

The application provides an ultrasonic self-imaging method of a spine, which can effectively help doctors diagnose the spine of a fetus and improve the working efficiency. Referring to fig. 2, the method for ultrasonic imaging of a spine provided by the embodiment of the present invention is applied to the ultrasonic imaging system 10 shown in fig. 1, and may be applied to the ultrasonic imaging system 10 including a touch display screen, that is, a touch screen is touched to perform an input touch operation, or other ultrasonic imaging systems 10 including a display screen, that is, a mouse, a trackball, or the like to perform an input operation, which is not limited herein. The ultrasound imaging system 10 may generate three-dimensional volumetric data using the ultrasound echo data. The ultrasonic imaging method embodiment of the spine in the application comprises the following steps:

201. three-dimensional volume data of a target spine is acquired.

In this embodiment of the application, the ultrasound imaging system may acquire the three-dimensional volume data of the target spine in real time, and may also acquire the three-dimensional volume data of the target spine from a local memory or a cloud memory, where the target spine may be any fetus, and a newborn baby waits to detect a spine of a human body, which is not limited herein.

As shown in fig. 3, three-dimensional volume data of a target spine acquired for an ultrasound imaging system is controlled to be displayed in two dimensions on a display, but may be displayed in three dimensions. Wherein, obtaining three-dimensional volume data of the target spine may include: and sending ultrasonic waves to the target spine, receiving ultrasonic echoes returned by the target spine, and determining the three-dimensional volume data of the target spine according to the ultrasonic echoes.

Illustratively, the transmit/receive sequence controller 102 sends a set of delayed focused pulses to the probe 100, and the probe 100 transmits ultrasonic waves to the tested body tissue (including the target spine), receives ultrasonic echoes with tissue information (including the target spine) reflected from the tested body tissue (including the target spine) with a certain delay, and re-converts the ultrasonic echoes into electrical signals. The transmit/receive sequence controller 102 receives these electrical signals and sends these ultrasound echo signals to the processor 103. And after the ultrasonic echo signals are focused, delayed, weighted and summed in a channel, the signals are processed, and then the three-dimensional data of the target spine can be obtained through three-dimensional imaging processing.

In one embodiment of the present application, the three-dimensional volume data of the target spine may be obtained by the aforementioned ultrasound imaging system in fig. 1, where the probe transmits ultrasonic waves to the target spine and receives ultrasonic echoes returned from the target spine. Specifically, since the probe in the ultrasound imaging system may be a three-dimensional probe including array elements arranged in three dimensions, the three-dimensional probe may directly acquire the ultrasound echo signal returned from the target spine to obtain three-dimensional volume data of the target spine. Or, the ultrasonic imaging system can also comprise a mechanical scanning device, the mechanical scanning device drives the probe to move, and ultrasonic echo signals returned from the target spine are received from different angles to obtain the three-dimensional volume data of the target spine.

In one embodiment of the present application, the three-dimensional volume data of the target spine may also be retrieved from memory. The three-dimensional volume data may be obtained by sending ultrasonic waves to the target spine through a three-dimensional ultrasonic probe in an ultrasonic imaging system or other ultrasonic imaging equipment within a preset time period and receiving ultrasonic echoes returned from the target spine, and then storing the three-dimensional volume data of the target spine in a memory. Therefore, the three-dimensional data of the target spine in the embodiment of the present application can be read from the memory.

It is understood that the memory may be a local memory or a cloud memory, or other memory, and is not particularly limited in the embodiments of the present application.

In an embodiment of the present application, the three-dimensional volume data of the target spine may also be obtained from other ultrasound imaging systems by copying, for example, the a ultrasound imaging system obtains the three-dimensional volume data of the target spine from a memory in the B ultrasound imaging system, and the three-dimensional volume data may be obtained by real-time detection by the B ultrasound imaging system or obtained and stored by other means, which is not limited in this respect.

202. A predetermined anatomical structure is determined from the three-dimensional volumetric data.

After the ultrasonic imaging system acquires the three-dimensional volume data of the target spine, a preset anatomical structure is further determined from the three-dimensional volume data, wherein the preset anatomical structure is a partial anatomical structure or a whole anatomical structure of the target spine. For example, the preset anatomical structure may be a partial anatomical structure of the target spine, such as a vertebral arch, a vertebral body, or a spinal cord, or may be a complete anatomical structure of the target spine, including the vertebral arch, the vertebral body, and the spinal cord. Fig. 4 is a schematic diagram for determining a target spine from three-dimensional volume data, wherein the preset anatomical structure is the entire target spine, i.e. all anatomical structures including vertebral arches, vertebral bodies and spinal cord in the target spine. In a possible implementation manner, the target spine may be labeled by a frame shape, and of course, may also be labeled by one or more other combinations of boundary lines, points, colors, and the like, which are not specifically limited herein.

The method for the ultrasound imaging system to determine the preset anatomical structure from the three-dimensional volume data may be manual or automatic, including but not limited to the following ways:

(1) and controlling the three-dimensional volume data to be displayed on the display, and responding to the input operation of the three-dimensional volume data to determine a region of interest, wherein the region of interest comprises the preset anatomical structure.

Optionally, determining the region of interest in response to the input operation on the three-dimensional volume data may include: receiving input operation of a target frame drawn by the three-dimensional volume data, and determining a region of interest according to the drawn target frame; alternatively, an input operation for a point or a line drawn on the three-dimensional volume data is received, and the region of interest is determined from the drawn point or line.

For example: the manual determination of the preset anatomical structure may refer to that a user performs operations such as pointing, drawing, and the like on the three-dimensional volume data through a certain workflow by using a keyboard, a mouse, a trackball, and the like, and the ultrasonic imaging system determines the direction and the position of the preset anatomical structure in the three-dimensional volume data in response to the input operation of the user.

(2) And determining the characteristic information of the preset anatomical structure, and determining the preset anatomical structure from the three-dimensional volume data according to the characteristic information of the preset anatomical structure.

It can be seen that the ultrasound imaging system may determine and locally store the feature information of the preset anatomical structure in advance, or may obtain the feature information of the preset anatomical structure from other cloud storage or other ultrasound imaging systems, or certainly, may also obtain the feature information of the preset anatomical structure in real time, where the feature information indicates a key distinguishing feature of the preset anatomical structure, for example, taking the preset anatomical structure as a vertebral arch, the shape of the vertebral arch is an arch, and the echo is a strong echo, and the ultrasound imaging system may identify the vertebral arch from the three-dimensional volume data through the feature information of the vertebral arch.

There are many ways for the ultrasound imaging system to determine the preset anatomical structure from the three-dimensional volume data according to the characteristic information of the preset anatomical structure, and the following examples illustrate several possible implementations:

A. determining a detection model of a preset anatomical structure by using a preset learning algorithm; inputting the three-dimensional volume data into a detection model to output a region of interest according to the feature information of the preset anatomical structure, wherein the region of interest includes the preset anatomical structure.

For example, a preset learning algorithm may be used to detect a vertebral arch or a vertebral body or a part of an anatomical structure such as a spinal cord in a target spinal column in three-dimensional volume data of the target spinal column, for example, to detect the vertebral arch or the vertebral body, a certain number of images of the vertebral arch or the vertebral body (referred to as positive samples) may be collected in advance, and a certain number of images of a non-vertebral arch or the vertebral body (referred to as negative samples) may be collected, and then an artificial neural network may be designed based on the preset learning algorithm to determine a detection model of the vertebral arch or the vertebral body. The method comprises the steps of automatically learning features capable of distinguishing positive samples and negative samples by using a vertebral arch or vertebral body detection model, traversing all possible regions in three-dimensional volume data of a target spine during detection by using the features, calculating the probability that the region is judged to be a positive sample, and selecting the region with the highest probability as an interested region, wherein the interested region comprises the vertebral arch or the vertebral body. Of course, the anatomical structure corresponding to the entire target spine may also be detected from the three-dimensional volume data in the same or similar manner, for example, key anatomical structures such as vertebral arch, vertebral body, and spinal cord in the target spine are detected, and the target spine is determined according to all regions corresponding to the vertebral arch, the vertebral body, and the spinal cord.

It is understood that commonly used preset learning algorithms include Adaboost algorithm, Support Vector Machine (SVM), Neural Network algorithm, Convolutional Neural Network algorithm (CNN), Recurrent Neural Network algorithm (RNN), fastrcn, Signal Multiple Detector (SSD), and the like, which can be used to determine the target spine from the three-dimensional data of the target spine.

B. Carrying out image segmentation on the three-dimensional data by using an image segmentation method to obtain a plurality of candidate regions; determining the probability that the candidate regions are interested regions according to the feature information of the preset anatomical structure and the image features of the candidate regions, wherein the interested regions comprise the preset anatomical structure; a preset anatomical structure is determined from the candidate regions having a probability greater than a preset threshold.

Illustratively, a vertebral arch or a vertebral body or a spinal cord, etc. in the target spine may be determined from three-dimensional volume data of the target spine by an image segmentation method. Taking the vertebral arch as an example, the vertebral arch in the target spine, which is usually an arch structure with strong echo, can be segmented by the image segmentation method. Firstly, performing binarization segmentation on three-dimensional volume data, namely obtaining a plurality of candidate regions after performing some necessary morphological operations, then determining the image characteristics of each candidate region, judging the probability that the candidate region is the vertebral arch according to the characteristics of each candidate region, and determining the vertebral arch from the region with higher probability. For example: for each candidate region, the probability that the region is the vertebral arch is judged according to image features such as shape and gray level (for example, the shape of the vertebral arch is the arch and strong echo), and the region with high probability is selected as the vertebral arch region. It can be understood that, the key structure of the vertebral body or other target vertebral column or the entire target vertebral column can be determined from the three-dimensional volume data by the image segmentation method, and the specific determination process is similar to the process of determining the vertebral arch, which can be referred to the above description specifically, and is not described here again.

It should be noted that other image segmentation methods, such as Level Set (Level Set), Graph Cut (Graph Cut), Snake, Random walk (Random walk), and some other image segmentation methods in deep learning, such as Full Convolutional Networks (FCN), unified Networks (UNet), etc., may also be used, and therefore, the description is not repeated here.

C. Carrying out similarity matching on the three-dimensional volume data and a preset anatomical structure template by using a template matching method; determining a region with the highest similarity from the three-dimensional volume data according to the characteristic information of the preset anatomical structure; and determining the preset anatomical structure from the region with the highest similarity.

Illustratively, a template matching method may also be used to determine the predetermined anatomical structure from the three-dimensional volume data of the target spine. The vertebral body in the target spine is generally in a short cylindrical shape, and some vertebral body data in the target spine can be collected in advance to establish a vertebral body template, when the vertebral body is determined in the three-dimensional volume data of the target spine, all possible regions in the three-dimensional volume data of the target spine can be traversed to perform similarity matching with a preset vertebral body template, and the region with the highest similarity is selected as a region of interest, wherein the region of interest comprises the vertebral body. It can be understood that the key structure of the vertebral arch or other target spine or the entire target spine can be determined from the three-dimensional volume data by the template matching method, and the specific determination process is similar to the process of determining the vertebral body, which can be referred to the above description specifically, and is not described here again.

It is understood that there are many methods for automatically determining the preset anatomical structure according to the three-dimensional data of the target spine, and the target spine may be determined by one or more of the above methods or by other methods, which are not specifically limited herein, for example, the position of the vertebral body may be determined by presetting the spatial distance between the vertebral arch and the vertebral body based on the determined position of the vertebral arch. For another example, on the basis of determining the position of the vertebral body, the position of the vertebral arch can be determined by presetting the spatial distance between the vertebral body and the vertebral arch. For another example, on the basis of determining the vertebral arch and the vertebral body, the position of the whole spine is determined within a preset range through the positions of the vertebral arch and the vertebral body, and a plurality of specific implementation modes are provided, which are not described repeatedly herein.

It should be noted that the target spine determined according to the three-dimensional volume data of the target spine may include the direction and the position of the target spine in the three-dimensional volume data, or may be the direction and the position in a certain two-dimensional tangent plane, which is not limited herein.

It is understood that when the three-dimensional volume data of the target spine determines the preset anatomy, a manually determined or automatically determined option may be displayed on a display screen of the ultrasound imaging system, and the user may select the preset anatomy according to actual needs, for example, by using the manual option to support the manual determination of the preset anatomy and by using the automatic option to support the automatic determination of the preset anatomy by the ultrasound imaging system.

203. A target image of a predetermined anatomical structure is acquired.

The target image includes at least one of a stereo VR diagram, a two-dimensional sectional diagram, and a Multi-surface reconstruction (CMPR) diagram, and the following description will be made by taking the target image as one of them:

(1) when the target image is a VR image, acquiring a target image of a preset anatomical structure may include: rotating a preset anatomical structure to a target position in the three-dimensional volume data; determining the size and the position of an interested area corresponding to a preset anatomical structure; adjusting the size and position of the region of interest such that the region of interest encloses a preset anatomical structure; and rendering the region of interest to obtain a VR map of the preset anatomical structure.

Exemplary, a method of determining a VR map of a preset anatomy: the VR diagram is used for rendering a region in the VOI frame, that is, rendering a region in which a preset anatomical structure is located. To obtain a VR map of a preset anatomy, in addition to knowing the direction and position of key structures such as vertebral arch or vertebral body or spinal cord, it is necessary to set the size and position of the VOI frame and adjust the size and position of the VOI frame so that the VOI frame surrounds the preset anatomy. For example, the target vertebral column may be rotated according to the long axis of the target vertebral column, or the position of the vertebral arch, or the position of the vertebral body, and then the size and position of the VOI frame are adjusted so that the VOI frame surrounds the target vertebral column (e.g., vertebral arch or vertebral body or spinal cord or target vertebral column including vertebral arch and vertebral body and spinal cord), and then a VR diagram of the vertebral arch or vertebral body or spinal cord or target vertebral column including vertebral arch and vertebral body and spinal cord can be obtained. As shown in fig. 5, a VR diagram of the target spine is obtained by taking a preset anatomical structure as an example of the entire target spine and rendering the entire target spine in a manner of highlighting a color or the like, so that a region of the target spine is obviously different from other regions except the target spine.

(2) When the target image is a two-dimensional sectional view, acquiring the target image of the preset anatomical structure may include: selecting at least three target pixel points from a preset anatomical structure; generating a two-dimensional plane according to the positions of at least three target pixel points; and determining a two-dimensional sectional view corresponding to a two-dimensional plane from the three-dimensional volume data, and determining the two-dimensional sectional view corresponding to the two-dimensional plane as the two-dimensional sectional view of the preset anatomical structure.

It should be noted that, here, the two-dimensional sectional view of the preset anatomical structure is obtained, and generally refers to a standard two-dimensional sectional view of the preset anatomical structure, which is referred to as a standard sectional view for short, and the standard sectional view may be a highly standard sectional view such as a median sagittal view, a coronal view, a cross-sectional view, and the like. Illustratively, a plane may be generated by detecting a predetermined anatomical structure in the three-dimensional volume data in the previous step, and the plane may be obtained by solving an equation or fitting. The plane may include a partial anatomical structure of a target spine such as a vertebral arch, a vertebral body, or a spinal cord, or may include a whole anatomical structure of a target spine such as a vertebral arch, a vertebral body, or a spinal cord. For example, if the positions of three non-collinear preset anatomical structures in a standard tangent plane are known, the mathematical theorem of a plane can be determined according to three non-collinear points in space, and a plane equation is solved; for another example, if the positions of more than three preset anatomical structures in the standard tangent plane are known, a plane equation can be fitted by using a fitting method, which includes a plurality of methods, such as least square estimation, Hough transformation, and the like. After a plane equation is obtained, a gray-scale image corresponding to the plane can be taken out from the three-dimensional volume data, so that a standard tangent plane of the preset anatomical structure is obtained. In this embodiment, the two-dimensional section adopts an expression mode of a plane equation, or other equivalent expression modes may be used, for example, a point plus a normal vector in a space may also be used to express the two-dimensional section, which is not specifically limited in this embodiment. As shown in fig. 6, a two-dimensional sectional view of the target spine is obtained, i.e. the entire anatomy of the target spine is determined from the three-dimensional volume data, and a corresponding two-dimensional sectional view is determined from the three-dimensional volume data for the entire anatomy.

(3) When the target image is a CMPR image, acquiring a target image of a preset anatomical structure may include: determining a curve path of a preset anatomical structure from the three-dimensional volume data, determining a plurality of curved surfaces corresponding to the curve path from the three-dimensional volume data according to a preset thickness, and reconstructing the plurality of curved surfaces to obtain a CMPR (CMPR) image of the preset anatomical structure.

The reconstructing the plurality of curved surfaces by the ultrasonic imaging system to obtain the CMPR map of the preset anatomical structure may include: acquiring pixel values of target pixel points on the plurality of curved surfaces, wherein the target pixel points are all pixel points or partial pixel points corresponding to the plurality of curved surfaces at target positions respectively, determining a target curved surface of a preset anatomical structure according to the pixel values of the target pixel points on the plurality of curved surfaces, and straightening the target curved surface according to a preset direction to obtain a CMPR (CMPR) image of the preset anatomical structure, wherein the preset direction can be user-defined or default.

It can be understood that a plurality of curved surfaces integrate three-dimensional volume data according to a preset thickness, wherein the pixel values of some or all of the pixels on each curved surface can be calculated according to a preset mode to obtain the pixel value of the pixel corresponding to a target tangent plane, and the target tangent plane is determined according to the corresponding pixel value. For example, the three-dimensional volume data includes a curved surface 1, a curved surface 2, and a curved surface 3, where the curved surface 1, the curved surface 2, and the curved surface 3 may be completely overlapped or partially overlapped, and for an overlapped region, a pixel value of a pixel point corresponding to each curved surface at a plurality of positions is selected, and then the pixel value of the pixel point corresponding to each curved surface is calculated to obtain a target curved surface, where a calculation manner of the pixel value may be an averaging manner, a weighted summation manner, or other manners, and is not specifically limited herein. The weighting system corresponding to each pixel point in the weighted summation mode can be user-defined or system default.

The calculation of the pixel values is illustrated in an averaged manner: assuming that the pixel values of the corresponding pixel points of the curved surface 1 in the first vertical direction, the second vertical direction and the third vertical direction are a1, a2 and a3 respectively; the pixel values of the pixel points corresponding to the curved surface 2 in the first vertical direction, the second vertical direction and the third vertical direction are respectively b1, b2 and b3, and the pixel values of the pixel points corresponding to the curved surface 3 in the first vertical direction, the second vertical direction and the third vertical direction are respectively c1, c2 and c3, so that the pixel values of the pixel points corresponding to the target tangent plane are respectively (a1+ b1+ c1)/3, (a2+ b2+ c2)/3, (a3+ b3+ c3)/3, that is, a curved surface is generated by reconstructing a plurality of curved surfaces through the calculation of the pixel values. It should be noted that, in practical application, there are many pixels corresponding to each curved surface, and this is only for illustration and is not limited.

Exemplary, a method of determining a CMPR image of a preset anatomical structure: in the Multi-surface reconstruction (CMPR), a specific Curved path is selected in one dimension, and all voxels (units of three-dimensional volume data) on the path are reconstructed and displayed on the same plane. The curved path may be one or more curved paths corresponding to a partial anatomical structure of the target spine, such as a vertebral arch, a vertebral body, or a spinal cord, or a curved path corresponding to the entire target spine, which is not limited herein. The curvilinear path of the CMPR may be selected to be of different thicknesses, which may be set manually (e.g., different thicknesses as the user views different spinal structures), or automatically (e.g., the ultrasound imaging system 10 may automatically calculate the thickness from the preset anatomy so that the thickness will wrap around the preset anatomy). Clinically, the physician can use the CMPR map to display the entire anatomy of the target spine (e.g., the cross-section or coronal plane of the spine) in a two-dimensional plane, which helps the physician observe the target spine from different angles and thicknesses.

The CMPR image is realized by positioning a plane corresponding to a curve path of a preset anatomical structure and then automatically obtaining a CMPR image of the preset anatomical structure by utilizing the plane corresponding to the curve path:

as shown in fig. 7a, according to the curved path of the target spine and according to the preset thickness, a plurality of curved surfaces corresponding to the curved path are determined, and the plurality of curved surfaces are reconstructed to obtain a CMPR map of the target spine.

As shown in fig. 7b, a plurality of curved surfaces corresponding to the curved path are determined according to the curved path of the vertebral arch and the preset thickness, and the plurality of curved surfaces are reconstructed to obtain the CMPR map of the vertebral arch.

As shown in fig. 7c, a plurality of curved surfaces corresponding to the curved path are determined according to the curved path of the vertebral body and the preset thickness, and the plurality of curved surfaces are reconstructed to obtain a CMPR image of the vertebral body.

It should be noted that, reference may be made to the above description for determining a CMPR map of a preset anatomical structure according to a plurality of curved surfaces, which is not described herein again.

In some possible implementation manners, after the CMPR map of the preset anatomical structure is determined, the CMPR map may be subjected to pseudo-color marking to obtain a pseudo-color map of the preset anatomical structure, so that the preset anatomical structure is displayed more clearly and is convenient for a doctor to observe.

204. And displaying the target image.

The display 104 of the ultrasound imaging system 10 may display at least one of the stereo VR image, the two-dimensional slice image, and the multi-surface reconstructed CMPR image obtained through the above steps.

It is understood that the process of displaying the target image may be triggered by a user key, may be directly embedded in the ultrasound system, may be directly turned on by default, or may be a display triggered by other conditions, and is not limited herein. The embodiments shown in the present application are applicable to both three-dimensional imaging and four-dimensional imaging. The four-dimensional imaging is to dynamically display a plurality of three-dimensional spine volume data acquired in real time sequentially through the process.

Optionally, the image of the target may be displayed in its entirety on the display 104 of the ultrasound imaging system 10, or the user may select to display a VR map, a two-dimensional sectional map, or a CMPR map of the target spine.

Alternatively, the VR diagram, the two-dimensional slice diagram, or the CMPR diagram may be one or more, respectively.

Optionally, before displaying the target image, the method may further include: receiving a display instruction of a target image; and displaying the target image according to the display instruction. After the display 104 in the ultrasound imaging system 10 receives the display instruction, the target image may be displayed according to the display instruction.

Optionally, after displaying the target image, the method may further include: receiving a hiding instruction of a target image; and hiding the target image according to the hiding instruction. After the display 104 in the ultrasound imaging system 10 displays the target image, the user may trigger the hiding operation without observing the target image, and after the display 104 in the ultrasound imaging system 10 receives the hiding instruction, the target image may be hidden according to the hiding instruction.

In the embodiment of the application, three-dimensional volume data of a target spine are acquired; determining a preset anatomical structure from the three-dimensional volume data; and acquiring a target image of the preset anatomical structure and displaying the preset anatomical structure, wherein the target image comprises at least one of a stereo VR picture, a two-dimensional tangent plane picture and a multi-curved surface reconstruction CMPR picture. The ultrasonic imaging system can automatically acquire a target image of a target spine, and can visually see a stereogram, a two-dimensional sectional view or a multi-curved surface reconstruction CMPR image of the target spine without manual selection of a user, so that the ultrasonic imaging efficiency and accuracy are improved, a doctor is effectively helped to perform disease auxiliary diagnosis, the working efficiency is improved, and the time and energy of the doctor are saved.

In one embodiment, a method of ultrasound imaging is provided. In the method, a processor may acquire three-dimensional volume data of the fetus. The three-dimensional volume data of the fetus can be obtained by scanning the ultrasonic imaging system in real time, namely, the ultrasonic probe transmits ultrasonic waves to the fetus and receives ultrasonic echo to obtain an ultrasonic echo signal, and the processor processes the ultrasonic echo signal to obtain the three-dimensional volume data of the fetus; the fetal three-dimensional volume data may be obtained by scanning with an ultrasonic imaging device in advance and stored, and read by a processor when necessary to perform the method of the embodiment.

The processor may then identify a conical spinal region from the three-dimensional volumetric data of the fetus based on the characteristics of the conical spinal cord of the fetus, determine a location of the conical spinal region from the identified conical spinal region, and display the location of the conical spinal region. Here, the location of the spinal conical region may be displayed in various suitable ways, such as by suitable symbols, colored regions, text, arrows, geometric shapes, and so forth. The location of the spinal conical region may be displayed on a three-dimensional image, may be displayed on a two-dimensional image, or may be displayed at other locations.

In this embodiment, the location of the identified conical region of the spinal cord may be the location of the conical end of the spinal cord. For example, the location of the conical end of the spinal cord can be determined from the identified conical region of the spinal cord and displayed. The location of the conical end of the spinal cord may be displayed in a variety of suitable ways, such as, for example, a suitable composition, color, dots, lines, arrows, numbers, distance from a suitable reference location, and the like. The location of the conical end of the spinal cord may be displayed on a three-dimensional image, may be displayed on a two-dimensional image, or may be displayed at other locations.

For example, as shown in fig. 8, a dashed box a is a spinal conic region, and a virtual straight line with an arrow B and a virtual straight line with an arrow C indicate the spinal conic end, which is shown as a small dot.

In this embodiment, the spinal conical region can be identified by a method of target matching. For example, at least two second candidate regions may be determined from the three-dimensional volume data of the fetus, the volume data feature of the three-dimensional volume data of each second candidate region may be obtained, the second matching degree between each second candidate region and the spinal conus may be determined according to the volume data feature of each second candidate region, and the second candidate region with the highest second matching degree may be determined as the spinal conus region.

In this embodiment, the sagittal plane of the fetus may be identified from the three-dimensional volume data of the fetus, and then the spinal conical region may be identified from the sagittal plane image. For example, a sagittal plane image of the spinal column passing through the fetus can be determined from the three-dimensional volumetric data of the fetus based on the features of the sagittal plane of the spinal column passing through the fetus, and then the spinal cone region can be determined in the sagittal plane image of the spinal column passing through the fetus based on the features of the spinal cone. Here, the sagittal plane may be the median sagittal plane and/or a sagittal plane adjacent to the median sagittal plane.

In this embodiment, the lumbar region can be identified from the three-dimensional volume data of the fetus, and the position of the spinal cone region is displayed relative to the lumbar region, so that the user can easily see the relative positional relationship between the spinal cone and the lumbar. For example, a lumbar region may be identified from the three-dimensional volumetric data of the fetus based on features of the lumbar spine of the fetus, an ultrasound image of the lumbar region is displayed, and the location of a spinal conical region (e.g., spinal conical end, etc.) is displayed relative to the ultrasound image of the lumbar region. Here, displaying the position of the spinal conic region with respect to the ultrasound image of the lumbar region may include various suitable manners, for example, the ultrasound image of the lumbar region and the position of the spinal conic region may be displayed simultaneously so that the user may directly see the relative positional relationship therebetween, or the distance of the spinal conic region with respect to the lumbar region may be displayed by characters or symbols or the like, or the relative positional relationship between the two may be displayed by symbols representing the lumbar and spinal conic regions, or the like.

In this embodiment, the specific schemes of the steps involved (e.g., identifying the spinal conical region, identifying the lumbar region, identifying the sagittal plane of the fetus, etc.) can be the same as or similar to the methods in the previous embodiments, and are not described in detail herein.

In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

A method of imaging a spine, comprising:

acquiring three-dimensional volume data of a fetus;

identifying an image region of the fetal spine from the three-dimensional volume data based on a feature of the fetal spine;

acquiring a target image of the fetal spine according to the identified image area of the fetal spine, wherein the target image comprises at least one of a stereo VR picture, a two-dimensional sectional picture and a multi-surface reconstructed CMPR picture;

and displaying the target image.
The method of claim 1, wherein identifying an image region of a fetal spine from the three-dimensional volumetric data based on a feature of the fetal spine comprises:

determining feature information of a spinal column of a fetus;

and determining an image region of the spinal column of the fetus from the three-dimensional volume data according to the characteristic information of the spinal column of the fetus.
The method of claim 2, wherein determining an image region of a fetal spine from the three-dimensional volumetric data based on the characteristic information of the fetal spine comprises:

determining a detection model of the spine of the fetus by using a preset learning algorithm;

inputting the three-dimensional volume data into the detection model to determine an image region of a fetal spine from the characteristic information output of the fetal spine.
The method of claim 2, wherein determining an image region of a fetal spine from the three-dimensional volumetric data based on the characteristic information of the fetal spine comprises:

carrying out image segmentation on the three-dimensional data by using an image segmentation method to obtain a plurality of candidate regions;

determining the probability that the candidate regions are the fetal spine region according to the feature information of the fetal spine and the image features of the candidate regions;

and determining an image region of the spinal column of the fetus from the candidate regions with the probability larger than a preset threshold value.
The method of claim 2, wherein determining an image region of a fetal spine from the three-dimensional volumetric data based on the characteristic information of the fetal spine comprises:

similarity matching is carried out on the three-dimensional volume data and the fetal spine template by using a template matching method, and a region with high similarity to the fetal spine template is determined from the three-dimensional volume data;

and determining the image region of the fetal spine from the region with high similarity.
The method of any one of claims 1-5, wherein the target image is a VR map, and wherein acquiring the target image of the fetal spine from the identified image region of the fetal spine includes:

rotating an image region of the fetal spine to a target orientation in the three-dimensional volumetric data;

determining the size and the position of a region of interest corresponding to the image region of the fetal spine;

adjusting the size and position of the region of interest such that the region of interest encompasses an image region of the fetal spine;

rendering the region of interest to obtain a VR map of the fetal spine.
The method of any one of claims 1-5, wherein the target image is a two-dimensional slice image, and wherein acquiring the target image of the fetal spine from the identified image region of the fetal spine comprises:

selecting at least three target pixel points from the image area of the fetal spine;

generating a two-dimensional plane according to the positions of the at least three target pixel points;

determining a two-dimensional sectional view corresponding to the two-dimensional plane from the three-dimensional volume data;

and determining the two-dimensional sectional image corresponding to the two-dimensional plane as a two-dimensional sectional image of the spinal column of the fetus.
The method of any one of claims 1-5, wherein acquiring the target image of the fetal spine from the identified image region of the fetal spine comprises:

determining a curvilinear path of an image region of a fetal spine from the three-dimensional volumetric data;

determining a plurality of curved surfaces corresponding to the curved path from the three-dimensional volume data according to a preset thickness;

and reconstructing the plurality of curved surfaces to obtain a CMPR image of the image area of the fetal spine.
The method of claim 8, wherein reconstructing the plurality of curved surfaces to obtain the CMPR map of the predetermined anatomical structure comprises:

acquiring pixel values of target pixel points on the plurality of curved surfaces, wherein the target pixel points are all pixel points or partial pixel points corresponding to the plurality of curved surfaces at target positions respectively;

determining a target curved surface of an image area of a fetal spine according to pixel values of target pixel points on the plurality of curved surfaces;

and straightening the target curved surface according to a preset direction to obtain a CMPR (CMPR) image of the image area of the fetal spine.
The method of claim 9, wherein determining the target surface of the image region of the fetal spine from the pixel values of the target pixel points on the plurality of surfaces comprises:

determining the average pixel value of the target pixel points according to the pixel values of the target pixel points on the curved surfaces;

and determining the target curved surface according to the average pixel value of the target pixel point.
The method of claim 9, wherein determining the target surface of the image region of the fetal spine from the pixel values of the target pixel points on the plurality of surfaces comprises:

and carrying out weighted summation on the pixel values of the target pixel points on the plurality of curved surfaces to obtain the target curved surface, wherein the weight coefficient corresponding to each target pixel point is user-defined or default by a system.
The method of any of claims 8 to 11, further comprising:

and carrying out pseudo-color marking on the CMPR image to obtain a pseudo-color image of the image area of the fetal spine.
A method of imaging a spine, comprising:

acquiring three-dimensional volume data of a scanning target;

determining a preset anatomical structure from the three-dimensional volume data, wherein the preset anatomical structure is a partial anatomical structure or a complete anatomical structure of the target spine;

acquiring a target image of the preset anatomical structure, wherein the target image comprises at least one of a three-dimensional VR picture, a two-dimensional tangent plane picture and a multi-surface reconstruction CMPR picture;

and displaying the target image.
The method of claim 13, wherein the determining a predetermined anatomical structure from the three-dimensional volumetric data comprises:

controlling the three-dimensional volume data to be displayed on a display;

determining a region of interest in response to an input operation on the three-dimensional volume data, wherein the region of interest includes the preset anatomical structure.
The method of claim 14, wherein said determining a region of interest in response to said inputting of said three-dimensional volumetric data comprises:

receiving an input operation of a target frame drawn by the three-dimensional volume data, and determining the region of interest according to the drawn target frame;

or receiving an input operation on a point or a line drawn by the three-dimensional volume data, and determining the region of interest according to the drawn point or line.
The method of claim 13, wherein the determining a predetermined anatomical structure from the three-dimensional volumetric data comprises:

determining characteristic information of the preset anatomical structure;

and determining the preset anatomical structure from the three-dimensional volume data according to the characteristic information of the preset anatomical structure.
The method according to claim 16, wherein the determining the preset anatomical structure from the three-dimensional volume data according to the characteristic information of the preset anatomical structure comprises:

determining a detection model of the preset anatomical structure by using a preset learning algorithm;

inputting the three-dimensional volume data into the detection model to output a region of interest according to the feature information of the preset anatomical structure, wherein the region of interest includes the preset anatomical structure.
The method according to claim 16, wherein the determining the preset anatomical structure from the three-dimensional volume data according to the characteristic information of the preset anatomical structure comprises:

carrying out image segmentation on the three-dimensional data by using an image segmentation method to obtain a plurality of candidate regions;

determining the probability that the candidate regions are the regions of interest according to the feature information of the preset anatomical structure and the image features of the candidate regions, wherein the regions of interest comprise the preset anatomical structure;

determining the preset anatomical structure from candidate regions having a probability greater than a preset threshold.
The method according to claim 16, wherein the determining the preset anatomical structure from the three-dimensional volume data according to the characteristic information of the preset anatomical structure comprises:

carrying out similarity matching on the three-dimensional volume data and a preset anatomical structure template by using a template matching method;

determining a region with the highest similarity from the three-dimensional volume data according to the characteristic information of the preset anatomical structure;

determining the preset anatomical structure from the region with the highest similarity.
The method of any one of claims 13-19, wherein the target image is a VR map, and the obtaining the target image of the preset anatomy comprises:

rotating the preset anatomy to a target position in the three-dimensional volume data;

determining the size and the position of an interested area corresponding to the preset anatomical structure;

adjusting the size and position of the region of interest such that the region of interest surrounds the preset anatomy;

and rendering the region of interest to obtain a VR map of the preset anatomical structure.
The method according to any one of claims 13-19, wherein the target image is a two-dimensional slice image, and the acquiring the target image of the preset anatomy comprises:

selecting at least three target pixel points from the preset anatomical structure;

generating a two-dimensional plane according to the positions of the at least three target pixel points;

determining a two-dimensional sectional view corresponding to the two-dimensional plane from the three-dimensional volume data;

and determining the two-dimensional sectional image corresponding to the two-dimensional plane as the two-dimensional sectional image of the preset anatomical structure.
The method of any one of claims 13-19, wherein the target image is a CMPR map, and the acquiring the target image of the preset anatomy comprises:

determining a curvilinear path of the preset anatomical structure from the three-dimensional volume data;

determining a plurality of curved surfaces corresponding to the curved path from the three-dimensional volume data according to a preset thickness;

and reconstructing the plurality of curved surfaces to obtain a CMPR image of the preset anatomical structure.
The method of claim 22, wherein reconstructing the plurality of curved surfaces to obtain the CMPR map of the predetermined anatomical structure comprises:

acquiring pixel values of target pixel points on the plurality of curved surfaces, wherein the target pixel points are all pixel points or partial pixel points corresponding to the plurality of curved surfaces at target positions respectively;

determining a target curved surface of a preset anatomical structure according to the pixel values of the target pixel points on the plurality of curved surfaces;

and straightening the target curved surface according to a preset direction to obtain a CMPR image of the preset anatomical structure.
The method of claim 23, wherein determining the target surface of the preset anatomical structure according to the pixel values of the target pixel points on the plurality of surfaces comprises:

determining the average pixel value of the target pixel points according to the pixel values of the target pixel points on the curved surfaces;

and determining the target curved surface according to the average pixel value of the target pixel point.
The method of claim 23, wherein determining the target surface of the preset anatomical structure according to the pixel values of the target pixel points on the plurality of surfaces comprises:

and carrying out weighted summation on the pixel values of the target pixel points on the plurality of curved surfaces to obtain the target curved surface, wherein the weight coefficient corresponding to each target pixel point is user-defined or default by a system.
The method of any of claims 22 to 25, further comprising:

and carrying out pseudo-color marking on the CMPR image to obtain a pseudo-color image of the preset anatomical structure.
The method of claim 13, wherein the acquiring three-dimensional volumetric data of the target spine comprises:

transmitting ultrasound waves to the target spine;

receiving ultrasonic echoes returned by the target spine;

determining the three-dimensional volume data from the ultrasound echoes.
The method of claim 13, wherein prior to said displaying said target image, said method further comprises:

receiving a display instruction of the target image;

and displaying the target image according to the display instruction.
The method of claim 13, wherein after the displaying the target image, the method further comprises:

receiving a hiding instruction of the target image;

and hiding the target image according to the hiding instruction.
A method of imaging a spine, comprising:

acquiring three-dimensional volume data of a fetus;

identifying a spinal cone region from three-dimensional volume data of a fetus based on characteristics of the spinal cone of the fetus;

determining the position of the spinal conical region according to the identified spinal conical region;

displaying the location of the spinal conical region.
The method of claim 30, wherein:

determining the location of the conical spinal cord region from the identified conical spinal cord region comprises: determining the position of the conical end of the spinal cord according to the identified conical region of the spinal cord;

displaying the location of the spinal conical region includes: the location of the conical end of the spinal cord is shown.
The method of claim 30 or 31, wherein identifying a spinal conic region from the fetal three-dimensional volumetric data based on the characteristics of the fetal spinal conus comprises:

determining at least two second candidate regions from the three-dimensional volume data of the fetus, and acquiring the volume data characteristics of the three-dimensional volume data of each second candidate region;

determining a second matching degree of each second candidate region and the spinal cord cone according to the volume data characteristics of each second candidate region;

and determining a second candidate region with the highest second matching degree as the spinal conical region.
The method of claim 30 or 31, wherein identifying a spinal conic region from the fetal three-dimensional volumetric data based on the characteristics of the fetal spinal conus comprises:

determining a sagittal plane image passing through the spinal column of the fetus from the three-dimensional volume data of the fetus according to the characteristics of the sagittal plane passing through the spinal column of the fetus;

determining a spinal conic region in a sagittal plane image of a spine passing through the fetus based on characteristics of the spinal conic.
The method of claim 33, wherein: the sagittal plane is the median sagittal plane and/or a sagittal plane adjacent to the median sagittal plane.
The method of any one of claims 30 to 34, further comprising:

identifying a lumbar vertebra region from three-dimensional volume data of a fetus based on features of the lumbar vertebra of the fetus;

displaying an ultrasound image of the lumbar region;

wherein displaying the location of the spinal conical region comprises: displaying the location of a spinal conical region relative to an ultrasound image of the lumbar region.
An ultrasound imaging system, comprising:

the ultrasonic probe transmits ultrasonic waves to a scanning target and receives ultrasonic echoes to obtain ultrasonic echo signals;

the processor obtains three-dimensional volume data of a target spine according to the ultrasonic echo signals and determines a preset anatomical structure of the target spine from the three-dimensional volume data, wherein the preset anatomical structure of the target spine is a partial anatomical structure or a whole anatomical structure of the target spine; acquiring a target image of the preset anatomical structure, wherein the target image comprises at least one of a three-dimensional VR picture, a two-dimensional tangent plane picture and a multi-surface reconstruction CMPR picture;

a display that displays the target image.
An ultrasound imaging system, comprising:

the ultrasonic probe transmits ultrasonic waves to a fetus and receives ultrasonic echoes to obtain ultrasonic echo signals;

the processor acquires the three-dimensional volume data of the fetus according to the ultrasonic echo signal, identifies a spinal cone region from the three-dimensional volume data of the fetus based on the characteristics of the spinal cone of the fetus, and determines the position of the spinal cone region according to the identified spinal cone region;

a display that displays a location of the conical region of the spinal cord.