CN115067995A - Ultrasonic three-dimensional annular scanning imaging device and imaging method - Google Patents

Ultrasonic three-dimensional annular scanning imaging device and imaging method Download PDF

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CN115067995A
CN115067995A CN202210622125.2A CN202210622125A CN115067995A CN 115067995 A CN115067995 A CN 115067995A CN 202210622125 A CN202210622125 A CN 202210622125A CN 115067995 A CN115067995 A CN 115067995A
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李昕泽
焦阳
崔崤峣
杨董永
朱鑫乐
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Suzhou Institute of Biomedical Engineering and Technology of CAS
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Abstract

The invention discloses an ultrasonic three-dimensional annular scanning imaging device and an imaging method, wherein the device comprises: a capsule body; an annular track; the ultrasonic transducer is arranged on the annular track, and can perform circumferential circular scanning motion around the capsule under the guidance of the annular track; a drive mechanism and a housing. The invention can adapt to a mainstream ultrasonic probe and match with a three-dimensional reconstruction method to realize three-dimensional ultrasonic imaging, can break through the limitation of high cost of the three-dimensional ultrasonic probe and realize the circular three-dimensional scanning reconstruction work which is difficult to be completed by the conventional method; the capsule body structure is used as a medium body between the object to be measured and the ultrasonic transducer, so that the problem that an ultrasonic probe is difficult to attach to the object to be measured with an irregular shape in the traditional scheme is solved, and the quality of ultrasonic echo signals can be effectively improved; the three-dimensional reconstruction method provided by the invention can generate a visual three-dimensional structure of the tissue to be detected, and is convenient for realizing multi-mode ultrasonic visual diagnosis.

Description

Ultrasonic three-dimensional annular scanning imaging device and imaging method
Technical Field
The invention relates to the field of ultrasonic imaging, in particular to an ultrasonic three-dimensional ring scanning imaging device and an imaging method.
Background
The ultrasonic imaging technology is widely applied to the fields of clinical examination and nondestructive testing flaw detection, and has the advantages of instant imaging, no damage and radiation, low cost, no need of complex imaging conditions such as a magnetic field and a radioactive source and the like. The ultrasonic wave is generated by the excitation of the piezoelectric effect in the ultrasonic transducer, and the transducer converts electric energy into mechanical energy, so that sound waves are emitted at a higher frequency, and the process of converting the reflected sound waves of the object to be measured into the electric energy is captured. According to the principle of ultrasonic wave generation, the transmission and the transmission of ultrasonic wave sound beams need to be maintained in the working plane of an ultrasonic transducer, which also leads to that ultrasonic imaging is two-dimensional imaging in most cases. In order to realize ultrasonic three-dimensional imaging to obtain more visual three-dimensional space information, one method is to design an ultrasonic transducer with a more complex structure and a matched algorithm to enlarge a field of view, and the other method is to improve a mechanical structure to enable the ultrasonic transducer to complete multi-tomography scanning and develop a corresponding algorithm to realize registration fusion of tomography images. But now a reliable solution is lacking.
Disclosure of Invention
The present invention provides an ultrasonic stereo ring scan imaging apparatus and an imaging method, which aim to overcome the above disadvantages in the prior art.
In order to solve the technical problems, the invention adopts the technical scheme that: an ultrasonic stereo ring scan imaging device comprising:
the capsule comprises a cylindrical outer surface and a flexible inner surface for wrapping an object to be detected, and liquid with acoustic impedance characteristics is filled in the capsule;
an annular track disposed around the bladder;
the ultrasonic transducer is arranged on the annular track, and can perform circumferential circular scanning motion around the capsule under the guidance of the annular track;
a driving mechanism which provides a driving function of making the ultrasonic transducer perform circumferential circular scanning motion on the annular track and a driving function of making the ultrasonic transducer perform radial motion along the annular track, so that the inner side of the ultrasonic transducer is always kept in contact with the outer surface of the capsule while the ultrasonic transducer performs the circumferential circular scanning motion around the capsule;
and a housing disposed at an outermost layer.
Preferably, the driving mechanism comprises a circular sub-driving mechanism arranged on the circular track and used for providing a circular motion driving function, and a radial sub-driving mechanism arranged on the circular sub-driving mechanism and used for providing a linear motion function along the radial direction of the circular track, and the ultrasonic transducer is arranged on the radial sub-driving mechanism.
Preferably, the liquid having acoustic impedance characteristics is water or an ultrasonic coupling liquid.
Preferably, the material of the bladder is rubber or resin.
Preferably, the ultrasonic transducer is one or more of a linear array probe, a convex array probe and a phased array probe.
The invention also provides an ultrasonic three-dimensional ring scanning imaging method, which adopts the device to carry out ultrasonic three-dimensional ring scanning imaging and comprises the following steps:
s1, opening the shell, placing the object to be detected into the capsule body, enabling the ultrasonic transducer to work, and driving the ultrasonic transducer to perform circumferential circular scanning motion on the circular track by the driving mechanism to realize ultrasonic detection so as to obtain a two-dimensional ultrasonic image;
and S2, performing three-dimensional reconstruction according to the two-dimensional ultrasonic image to obtain a three-dimensional ultrasonic image.
The step S2 specifically includes:
s2-1, selecting a feature point set W of a target tissue in each two-dimensional ultrasonic image i ＝{S 1 ,S 2 ,S 3 ……S n In which S is n Representing the nth feature, wherein n is the feature classification number, and i represents the ith frame image; the above operations are sequentially executed in each frame of image, and the feature point set W of each frame of image is extracted n ；
S2-2, comparing the feature point sets of all the frame images, and comparing the feature point sets of the two frame images when the feature point sets are in a same frameThe Hausdorff distance H is less than or equal to epsilon j Then, the two feature point sets are judged to be feature point sets of adjacent frame images, wherein epsilon j Is a preset distance threshold; let these two feature point sets be W n And W n+1 The Hausdorff distance between these two feature point sets is denoted as H (W) n ,W n+1 ) And then:
H(W n ,W n+1 )＝max(h(W n ,W n+1 ),h(W n+1 ,W n ) (1)
Figure BDA0003675035080000021
Figure BDA0003675035080000031
wherein | - β - α | is a set of points W n And W n+1 With a distance between the sets, where | - α - β | is the set of points W n+1 And W n Distance between h (W) n ,W n+1 ) And h (W) n+1 ,W n ) Are respectively a point set W n To W n+1 And set of points W n+1 To W n The unidirectional Hausdorff distance of (a);
s2-3, after determining the feature point sets of all the adjacent frame images according to the step S2-2, counting according to the classification indexes, and classifying the feature points of the same classification into one class: for the characteristic point set W in the ith frame image i ＝{S i,1 ,S i,2 ,S i,3 ……S i,k F, including k feature classifications, classifying all feature points S of the first feature classification i,1 Extracting all the feature points S of the first feature classification from the feature point set of the i +1 th frame image i+1,1 And so on to obtain a first feature classification point total set { S 1,1 ，S 2,1 ，……，S k,1 }; obtaining a total set of all feature classification points according to the method;
s2-4, converting the two-dimensional coordinates of the feature classification point total sets into a three-dimensional coordinate system, and performing close connection on the feature point sets in each feature classification point total set in a three-dimensional space, namely sequentially connecting every two feature points with short Euclidean distance in the space to convert each classification feature point set into a point cloud data set of a dense three-dimensional feature vector;
then removing noise points in the point cloud data set and describing key points;
and rasterizing the point cloud data set, adding texture information to draw an isosurface, and reconstructing a three-dimensional surface of the target tissue to obtain a three-dimensional ultrasonic image.
Preferably, in step S2-4, the method for converting the two-dimensional coordinates into the three-dimensional coordinate system includes:
acquiring a relative angle theta between the ith frame of image and the initial zero position through the ultrasonic three-dimensional circular scanning imaging device i ；
Setting the sound wave reflection direction of the two-dimensional image as an x axis, and defining the imaging width direction as a y axis to obtain a two-dimensional coordinate corresponding to each characteristic point;
setting the acoustic wave reflection direction of the two-dimensional image as an x axis, defining the imaging width direction as a y axis, defining the central axis direction of the capsule body as a Z axis, and establishing a three-dimensional coordinate system;
converting a point A (a, b) in the ith frame image in the two-dimensional image into a three-dimensional coordinate system, and mapping the point A to a coordinate A' in the three-dimensional coordinate system (acos theta) i ,b,asinθ i )。
Preferably, in step S2-4, noise in the point cloud data set is removed by voxel filtering and gaussian filtering, and a SHOT method is used to describe the key points.
Preferably, the method further comprises the steps of: and S2-5, adding physiological parameters and functional information to the obtained three-dimensional ultrasonic image.
Preferably, the additional physiological parameters and functional information at least include one or more of elastic modulus, blood flow velocity, pixel value, and thermal distribution information.
The invention also provides a storage medium having stored thereon a computer program which, when executed, is adapted to carry out the method as described above.
The invention has the beneficial effects that:
the ultrasonic three-dimensional ring scan imaging device provided by the invention can be adapted to a mainstream ultrasonic probe and matched with a three-dimensional reconstruction method to realize three-dimensional ultrasonic imaging, can break through the limitation of high cost of the three-dimensional ultrasonic probe, and realizes the circular three-dimensional scanning reconstruction work which is difficult to complete by a conventional method;
the capsule body structure is used as a medium body between the object to be measured and the ultrasonic transducer, and the ultrasonic probe can be attached to different objects to be measured (such as the neck, the limbs and the like of a human body) by virtue of the deformation characteristic of the capsule body structure, so that the problem that the ultrasonic probe is difficult to attach to the object to be measured in an irregular shape in the traditional scheme is solved, and the quality of ultrasonic echo signals can be effectively improved;
the three-dimensional reconstruction method provided by the invention can extract the feature point set from the multi-fault two-dimensional ultrasonic image, and perform operations such as three-dimensional mapping and rasterization to generate an intuitive three-dimensional structure of the tissue to be detected; functional pathophysiological information can be attached to the three-dimensional graph, multi-mode ultrasonic visual diagnosis is convenient to realize, and the system can be applied to scenes of blood flow and bones of four limbs ultrasonic ring scan examination and blood flow of neck ring scan examination of a human body, thyroid imaging, ultrasonic ring scan flaw detection and the like.
Drawings
Fig. 1 is a schematic structural view of an ultrasonic stereo circular scanning imaging apparatus in embodiment 1 of the present invention;
FIG. 2 is a schematic diagram of spatial distribution of a plurality of scanned images according to embodiment 2 of the present invention;
fig. 3 is a schematic diagram of the three-dimensional coordinate system established in embodiment 2 of the invention.
Description of reference numerals:
1-capsule body; 2-an annular track; 3-an ultrasonic transducer; 4-a driving mechanism; 5, a shell; 10-an outer surface; 11-a flexible inner surface; 40-a circumferential sub-drive mechanism; 41-radial sub-drive mechanism.
Detailed Description
The present invention is further described in detail below with reference to examples so that those skilled in the art can practice the invention with reference to the description.
It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
Example 1
As shown in fig. 1, an ultrasonic three-dimensional ring scan imaging apparatus of the present embodiment includes:
the capsule body 1 comprises a cylindrical outer surface 10 and a flexible inner surface 11 used for wrapping an object to be detected, and liquid with acoustic impedance characteristics is filled in the capsule body 1;
an annular track 2 disposed around the capsule 1;
the ultrasonic transducer 3 is arranged on the annular track 2, and the ultrasonic transducer 3 can perform circumferential circular scanning motion around the capsule body 1 under the guidance of the annular track 2;
a driving mechanism 4 providing a driving function of making the ultrasonic transducer 3 perform a circumferential sweeping motion on the annular track 2 and a driving function of making the ultrasonic transducer 3 perform a radial motion along the annular track 2, so that the inner side of the ultrasonic transducer 3 is always kept in contact with the outer surface 10 of the balloon 1 while the ultrasonic transducer 3 performs the circumferential sweeping motion around the balloon 1;
and a housing 5 disposed at the outermost layer.
In a preferred embodiment, the ultrasonic three-dimensional ring scanning imaging device is of a cylindrical structure as a whole.
Wherein, the bag body 1 is in a ring shape as a whole, a cavity is formed in the middle and is provided with a flexible inner surface 11, and an outer surface 10 is in a stable cylindrical shape; the purpose is as follows: when the parts to be detected of the limbs and the neck of the human body are placed in the cavity in the middle of the bag body 1, the flexible inner surface 11 can well wrap the main part to be detected and is attached to the part to be detected under the pressure action of liquid in the bag body 1, so that the sound signals cannot be attenuated too much; while the stable cylindrical outer surface 10 is able to match the circumferential sweeping motion of the ultrasonic transducer 3 and remain in contact with the inside of the ultrasonic transducer 3 at all times.
In a preferred embodiment, the liquid with acoustic impedance characteristics is water or an ultrasonic coupling liquid or other liquid that matches the acoustic impedance of the ultrasonic wave propagation. The material of the water sac can be selected from rubber, resin and other materials with proper elasticity, ductility, good acoustic impedance and good biocompatibility; the thickness of the water sac wall needs to be moderate, so that the stability of the water sac structure is kept, and the sound signals cannot be attenuated too much to influence the fit with the tissue to be detected. The water sac has adjustable size and filling degree, and can be replaced.
In a preferred embodiment, to maintain the cylindrical outer surface 10 of the bladder in a stable configuration, the outer surface 10 can be made cylindrical by selecting the material and thickness of the outer surface 10 wall to form a stable structure, or by providing a circular support structure within the bladder.
The annular track 2 provides a guiding function for the movement of the ultrasonic transducer 3, and during the movement, the transmitting direction of the ultrasonic transducer 3 always points to the circle center or forms a certain included angle with the radius so as to meet the requirements of Doppler scanning and the like.
In a preferred embodiment, the driving mechanism 4 includes a circular sub-driving mechanism 4004 provided on the circular track 2 for providing a circular motion driving function and a radial sub-driving mechanism 41 provided on the circular sub-driving mechanism 4004 for providing a linear motion function in a radial direction of the circular track 2, and the ultrasonic transducer 3 is provided on the radial sub-driving mechanism 41 by a clamping mechanism. The speed of the movement of the ultrasonic transducer 3 is adjustable by controlling the driving mechanism 4, and the angle of the movement scanning can also be set, for example, scanning in a range of 120 degrees from the starting position is realized. The driving mechanism 4 can be driven by an external power supply or a rechargeable battery.
In the preferred embodiment, the ultrasonic transducer 3 is one or more of a linear array probe, a convex array probe, a phased array probe, and any other type of probe. Scanning imaging modes employed also include, but are not limited to, B-mode scanning, color doppler scanning, spectral doppler scanning, ultrasound inspection, and the like. The size of the ultrasonic transducer 3 is matched with the whole structure, and the ultrasonic transducer 3 can be connected with an ultrasonic host machine in various modes such as wired connection, wireless connection and the like.
The shell 5 is used for forming the protection to parts such as the utricule 1 of inside, circular orbit 2, ultrasonic transducer 3, actuating mechanism 4, and shell 5 has the adjustability, its size and overall structure match can, shell 5 can be opened to put into utricule 1 with the part that awaits measuring in, and realize the maintenance and the maintenance of inside device.
In a preferred embodiment, the ultrasonic stereo circular scanning imaging device further comprises an upper computer, which is used for controlling the ultrasonic transducer 3 and the driving mechanism 4 and realizing ultrasonic imaging.
Example 2
The present embodiment provides an ultrasonic stereo ring scan imaging method, which uses the apparatus of embodiment 1 to perform ultrasonic stereo ring scan imaging, and the method includes the following steps:
s1, opening the shell 5, placing the object to be detected in the capsule body 1, enabling the ultrasonic transducer 3 to work, and driving the ultrasonic transducer 3 to perform circumferential circular scanning movement on the annular track 2 by the driving mechanism 4 to realize ultrasonic detection and obtain a two-dimensional ultrasonic image;
and S2, performing three-dimensional reconstruction according to the two-dimensional ultrasonic image to obtain a three-dimensional ultrasonic image.
According to the physical characteristics of sound wave conduction and the structure of a conventional linear array ultrasonic probe, ultrasonic waves are transmitted by a transducer and then are transmitted along a plane, reflected after passing through an object to be measured and returned along an original path to be received by the transducer. This results in the conventional ultrasound transducer 3 being imaged as a two-dimensional image, the field of view being limited to showing depth information on only one slice. On the other hand, the area array ultrasonic transducer 3 can realize real-time three-dimensional imaging, but the price is high, the imaging method is complex, and few mainstream ultrasonic devices can be supported. Considering that the propagation of the ultrasonic wave needs a medium, the ultrasonic transducer 3 needs to be attached to the tissue to be measured to achieve the expected imaging effect. When facing typical structures such as limbs, neck and the like of a human body, the area array probe has certain limitations. The water bag is used as a medium body between the object to be measured and the ultrasonic transducer 3, so that the defects of the area array probe can be overcome, the attenuation of ultrasonic waves in the transmitting and receiving processes can be better reduced, and higher imaging quality is realized.
When the linear array ultrasonic probe is adopted, the image directly obtained by the device in embodiment 1 is a two-dimensional image, and the three-dimensional ultrasonic image can be obtained by performing post-processing on the two-dimensional image on the basis of the two-dimensional image and completing mapping and three-dimensional reconstruction work by combining information such as a spatial position and the like.
Specifically, the three-dimensional reconstruction method adopted in step S2 includes:
s2-1, extracting feature information in the multi-section two-dimensional ultrasonic image, extracting information such as blood vessels, bones (target tissues) and the like in the ultrasonic image by adopting a deep learning network and a feature extraction method based on the iconography, and particularly extracting tissues with obvious identification under the ultrasonic image, such as blood vessel adventitia, bone contour, nerve bundle, thyroid gland and the like.
Specifically, in this embodiment, first, in each two-dimensional ultrasound image, a feature point set W of a target tissue is selected i ＝{S 1 ,S 2 ,S 3 ……S n In which S n Representing the nth feature, wherein n is the feature classification number, and i represents the ith frame image; the above operations are sequentially executed in each frame of image, and the feature point set W of each frame of image is extracted n (ii) a When the number of the feature points in the single-frame image is large, the sparse sampling matrix M can be utilized s And sparse sampling is carried out on the feature point set, then subsequent processing is carried out, the data volume is reduced on the premise of retaining the feature information of the original image to the maximum extent, and the operation speed is improved.
S2-2, comparing the feature point sets of all the frame images, and when the Hausdorff distance H between the two feature point sets is less than or equal to epsilon j Then, the two feature point sets are judged to be feature point sets of adjacent frame images, wherein epsilon j Is a preset distance threshold; let these two feature point sets be W n And W n+1 The Hausdorff distance between these two feature point sets is denoted as H (W) n ,W n+1 ) And then:
H(W n ,W n+1 )＝max(h(W n ,W n+1 ),h(W n+1 ,W n ) (1)
Figure BDA0003675035080000071
Figure BDA0003675035080000072
wherein | - β - α | is a set of points W n And W n+1 With a distance between the sets, where | - α - β | is the set of points W n+1 And W n Distance between h (W) n ,W n+1 ) And h (W) n+1 ,W n ) Are respectively a point set W n To W n+1 And set of points W n+1 To W n The unidirectional Hausdorff distance; the bidirectional Hausdorff distance H (W) represented in formula (1) n ,W n+1 ) The maximum degree of mismatch between the two point sets is measured, when H (W) is satisfied n ,W n+1 )≤ε j And then judging that the feature points between adjacent frames meet the matching requirement.
S2-3, after determining the feature point sets of all the adjacent frame images according to the step S2-2, counting according to the classification indexes, and classifying the feature points of the same classification into one class: for the characteristic point set W in the ith frame image i ＝{S i,1 ,S i,2 ,S i,3 ……S i,k F, including k feature classifications, classifying all feature points S of the first feature classification i,1 Extracting all the feature points S of the first feature classification from the feature point set of the i +1 th frame image i+1,1 And so on to obtain a first feature classification point total set { S 1,1 ，S 2,1 ，……，S k,1 }; obtaining a total set of all feature classification points according to the method;
s2-4, converting the two-dimensional coordinates of the feature classification point total sets into a three-dimensional coordinate system, and performing close connection on the feature point sets in each feature classification point total set in a three-dimensional space, namely sequentially connecting every two feature points with short Euclidean distance in the space to convert each classification feature point set into a point cloud data set of a dense three-dimensional feature vector;
removing noise points in the point cloud data set by adopting voxel filtering and Gaussian filtering, and describing key points by adopting a SHOT method;
and rasterizing the point cloud data set, adding texture information to draw an isosurface, and reconstructing a three-dimensional surface of the target tissue to obtain a three-dimensional ultrasonic image. The denser the point cloud data is, the smoother the reconstructed surface is; methods for rendering the stereo texture include, but are not limited to, surface rendering, ray casting, and the like.
And S2-5, adding physiological parameters and functional information to the obtained three-dimensional ultrasonic image.
Wherein the additional physiological parameters and functional information at least comprises one or more of elastic modulus, blood flow velocity, pixel value and thermal distribution information. The ultrasonic transducer 35 used in the embodiment supports doppler blood flow imaging, ultrasonic elastography and the like, so that information such as elastic modulus, blood flow velocity and the like can be represented on a three-dimensional model in the forms of pixel values, thermal distribution and the like, multi-mode pathophysiological information is provided, and the image is more visual.
In step S2-4, the method of converting the two-dimensional coordinates into the three-dimensional coordinate system includes:
obtaining the relative angle theta between the ith frame image and the initial zero position by an ultrasonic three-dimensional annular scanning imaging device i (ii) a Referring to fig. 2;
setting the sound wave reflection direction of the two-dimensional image as an x axis, and defining the imaging width direction as a y axis to obtain a two-dimensional coordinate corresponding to each characteristic point;
setting the acoustic wave reflection direction of the two-dimensional image as an x axis, defining the imaging width direction as a y axis, defining the central axis direction of the capsule body 1 as a Z axis, and establishing a three-dimensional coordinate system; referring to fig. 3;
converting a point A (a, b) in the ith frame image in the two-dimensional image into a three-dimensional coordinate system, and mapping the point A to a coordinate A' (acos theta) in the three-dimensional coordinate system i ,b,asinθ i )。
Example 3
A storage medium having stored thereon a computer program stored in an upper computer, the program being for implementing the method of embodiment 2 when executed.
While embodiments of the invention have been disclosed above, it is not limited to the applications listed in the description and the embodiments, which are fully applicable in all kinds of fields of application of the invention, and further modifications may readily be effected by those skilled in the art, so that the invention is not limited to the specific details without departing from the general concept defined by the claims and the scope of equivalents.

Claims (10)

1. An ultrasonic three-dimensional ring scan imaging device, comprising:
the capsule comprises a cylindrical outer surface and a flexible inner surface for wrapping an object to be detected, and liquid with acoustic impedance characteristics is filled in the capsule;
an annular track disposed around the bladder;
the ultrasonic transducer is arranged on the annular track, and can perform circumferential circular scanning motion around the capsule under the guidance of the annular track;
a driving mechanism which provides a driving function of making the ultrasonic transducer perform circumferential circular scanning motion on the annular track and a driving function of making the ultrasonic transducer perform radial motion along the annular track, so that the inner side of the ultrasonic transducer is always kept in contact with the outer surface of the capsule while the ultrasonic transducer performs the circumferential circular scanning motion around the capsule;
and a housing disposed at an outermost layer.
2. The ultrasonic stereoscopic annular scanning imaging device according to claim 1, wherein the driving mechanism comprises a circular sub-driving mechanism provided on the annular rail for providing a circular motion driving function and a radial sub-driving mechanism provided on the circular sub-driving mechanism for providing a linear motion function in a radial direction of the annular rail, and the ultrasonic transducer is provided on the radial sub-driving mechanism.
3. An ultrasonic stereo cyclic scanning imaging apparatus according to claim 1, wherein the liquid having acoustic impedance characteristics is water or an ultrasonic coupling liquid.
4. The ultrasonic stereo scanning imaging device according to claim 3, wherein the material of the balloon is rubber or resin.
5. The ultrasonic stereoscopic scanning imaging device according to claim 1, wherein the ultrasonic transducer is one or more of a linear array probe, a convex array probe, and a phased array probe.
6. An ultrasonic stereo cyclic scan imaging method, which performs ultrasonic stereo cyclic scan imaging using the apparatus according to any one of claims 1 to 5, the method comprising the steps of:
s1, opening the shell, placing the object to be detected into the capsule body, enabling the ultrasonic transducer to work, and driving the ultrasonic transducer to perform circumferential circular scanning motion on the circular track by the driving mechanism to realize ultrasonic detection so as to obtain a two-dimensional ultrasonic image;
and S2, performing three-dimensional reconstruction according to the two-dimensional ultrasonic image to obtain a three-dimensional ultrasonic image.
The step S2 specifically includes:
s2-1, selecting a feature point set W of a target tissue in each two-dimensional ultrasonic image i ＝{S 1 ,S 2 ,S 3 ……S n In which S is n Representing the nth feature, wherein n is the feature classification number, and i represents the ith frame image; the above operations are sequentially executed in each frame of image, and the feature point set W of each frame of image is extracted n ；
S2-2, comparing the feature point sets of all the frame images, and when the Hausdorff distance H between the two feature point sets is less than or equal to epsilon j Then, the two feature point sets are judged to be feature point sets of adjacent frame images, wherein epsilon j Is a preset distance threshold; let these two feature point sets be W n And W n+1 The Hausdorff distance between these two feature point sets is denoted as H (W) n ,W n+1 ) And then:
H(W n ,W n+1 )＝max(h(W n ,W n+1 ),h(W n+1 ,W n ) (1)
Figure FDA0003675035070000021
Figure FDA0003675035070000022
wherein | - β - α | is a set of points W n And W n+1 With a distance between the sets, where | - α - β | is the set of points W n+1 And W n Distance between h (W) n ,W n+1 ) And h (W) n+1 ,W n ) Are respectively a point set W n To W n+1 Sum point set W n+1 To W n The unidirectional Hausdorff distance;
s2-3, after determining the feature point sets of all the adjacent frame images according to the step S2-2, counting according to the classification indexes, and classifying the feature points of the same classification into one class: for the characteristic point set W in the ith frame image i ＝{S i,1 ,S i,2 ,S i,3 ……S i,k F, including k feature classifications, classifying all feature points S of the first feature classification i,1 Extracting all the feature points S of the first feature classification from the feature point set of the i +1 th frame image i+1,1 And so on to obtain a first feature classification point total set { S 1,1 ，S 2,1 ，……，S k,1 }; obtaining a total set of all feature classification points according to the method;
s2-4, converting the two-dimensional coordinates of the feature classification point total sets into a three-dimensional coordinate system, and performing close connection on the feature point sets in each feature classification point total set in a three-dimensional space, namely sequentially connecting every two feature points with short Euclidean distance in the space to convert each classification feature point set into a point cloud data set of a dense three-dimensional feature vector;
then removing noise points in the point cloud data set and describing key points;
and rasterizing the point cloud data set, adding texture information to draw an isosurface, and reconstructing a three-dimensional surface of the target tissue to obtain a three-dimensional ultrasonic image.
7. The ultrasonic stereo cyclic scanning imaging method according to claim 6, wherein in the step S2-4, the method of converting the two-dimensional coordinates into the three-dimensional coordinate system is:
acquiring a relative angle theta between the ith frame of image and the initial zero position through the ultrasonic three-dimensional circular scanning imaging device i ；
Setting the sound wave reflection direction of the two-dimensional image as an x axis, and defining the imaging width direction as a y axis to obtain a two-dimensional coordinate corresponding to each characteristic point;
setting the acoustic wave reflection direction of the two-dimensional image as an x axis, defining the imaging width direction as a y axis, defining the central axis direction of the capsule body as a Z axis, and establishing a three-dimensional coordinate system;
converting a point A (a, b) in the ith frame image in the two-dimensional image into a three-dimensional coordinate system, and mapping the point A to a coordinate A' (a cos theta) in the three-dimensional coordinate system i ,b,a sinθ i )。
8. The method for stereo ultrasound ring scan imaging according to claim 7, wherein in step S2-4, voxel filtering and gaussian filtering are used to remove noise in the point cloud data set, and SHOT method is used to describe the key points.
9. The ultrasonic stereo cyclic scanning imaging method of claim 8, further comprising the steps of: and S2-5, adding physiological parameters and functional information to the obtained three-dimensional ultrasonic image.
10. The method according to claim 9, wherein the additional physiological parameters and functional information at least comprise one or more of elastic modulus, blood flow velocity, pixel values, thermal distribution information.
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Publication number Priority date Publication date Assignee Title
CN116439742A (en) * 2023-06-14 2023-07-18 北京大学第一医院 Neck ultrasonic imaging device

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116439742A (en) * 2023-06-14 2023-07-18 北京大学第一医院 Neck ultrasonic imaging device
CN116439742B (en) * 2023-06-14 2023-08-22 北京大学第一医院 Neck ultrasonic imaging device

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