CN100506164C - Quick scanning conversion method for 3-D supersonic imaging - Google Patents
Quick scanning conversion method for 3-D supersonic imaging Download PDFInfo
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Abstract
The present invention relates to a quick scanning conversion method for three-dimensional ultrasonic image formation, and is used for conventing the data obtained by probe scanning into the rectangular coordinate volume data required for follow-up three-dimensional rconstruction. The invented quick scanning conversion method is characterized by that said method includes the following steps: making the probe respectively scan body in a series of equiangular spaced plane to obtain sequential two-dimensional image data and store it; then utilizing interpolation calculation treatment to obtain three-dimensional every non-scanning point data and store it; specially creating a scanning conversion model of system conversion basis.
Description
Technical field the present invention relates to ultrasonic technique, particularly is used for the data processing technique of 3-D supersonic imaging, especially accelerates the volume data transform process method of computational speed and reduction memory space.
Background technology 3-D supersonic imaging technology is a kind of ultrasonic imaging technique that is diagnosed as purpose with medical assistance, it obtains the three-dimensional volume data of some histoorgan of human body by probe, then this volume data is handled, thereby obtained the three-dimensional ultrasound pattern of these histoorgans.Compare with traditional Type B is ultrasonic, this technology has can show intuitively and multi-angle observation image that auxiliary medical teaching and surgery planning reach advantages such as measuring more medical parameters.This technology is suggested notion from the sixties, begun the eighties since the clinical practice, has shown major application value at aspects such as heart, fetus body, liver, kidneys.But all the time, the real-time problem of 3-D view demonstration is a key factor of its practical application of restriction.
Dissimilar according to the probe that is used for obtaining three-dimensional volume data, ultra sonic imaging can be divided into static and the three-dimensional imaging that dynamically (also claims " in real time ").The real-time three-dimensional imaging can adopt the probe of 1.5D or 2D directly to obtain three-dimensional volume data; And static three-dimensional imaging uses probe (generally based on common one-dimensional array probe) to obtain 2-D data, the treated again three-dimensional volume data that obtains earlier.The scanning probe mode of ultra sonic imaging when obtaining data is divided into mode imagings such as unenhanced, fan sweeping, rotation sweep again.Described scanning comprises mechanical scanning and manual freely the scanning of moving that machinery drives.
Described unenhanced imaging is meant probe and obtains the view data of one group of parallel surface along moving with the vertical direction of each plane of scanning motion, can with these view data directly the follow-up three-dimensional reconstruction module of input handle and obtain the three-dimensional result image; And described fan sweeping imaging is that probe is at the uniform velocity swung around probe and scanned object contact wire, at a series of equal angles plane interscan object at interval, obtain the view data of sequence, again this sequential image data is carried out just being input to follow-up three-dimensional reconstruction module behind the three-dimensional coordinate transformation and handle.Because the image data amount that scanning obtains is very huge, handle and to spend the plenty of time according to conventional three-dimensional coordinate transformation method, thereby influence the practical application of 3-D supersonic imaging technology, therefore, it is extremely important and meaningful to clinical practice to accelerate three-dimensional coordinate transformation speed.
In the United States Patent (USP) 5,396,890 of Siemens company application, mentioned a kind of 3-D scanning transformation system, its objective is can also produce many plane pictures of quadrature and transparent image in real time into except producing traditional B type image, comprise step:
1, respectively on some uniformly-spaced planes, an object is carried out ultrasonic scanning, obtain the two-dimensional ultrasound data on these planes;
2, the described two-dimensional ultrasound data of storage;
3, the position of the corresponding probe of record;
4, from a question blank, find each scan conversion parameter, and they are loaded in the scan conversion system corresponding to described probe positions;
5, according to the line density value of control, the image ultrasound data of described storage is carried out the scan conversion first time, this 2-D data is transformed to the view data of rasterisation;
6, the view data of the described rasterisation of storage in internal memory;
7, to the data of described storage, carrying out scan conversion for the second time on the vertical direction with the described first time;
8, in internal memory, store the result of the described scan conversion second time with the form of volume data;
9, the 3 d image data that shows storage.
The main deficiency of above-mentioned prior art is:
1, the memory space of Xu Yaoing is big.With described United States Patent (USP) is example, need carry out twice coordinate transform, comprise to the intermediate object program data after original scan-data, the scan conversion for the first time, and scan conversion for the second time after the storage of result data, because the three-dimensional data amount is generally very big, this way greatly increases memory cost, but causes the scope of application of this method limited.
2, not to question blank optimization, and data volume is a lot of during scan conversion, causes the question blank of scan conversion parameter must be very big, causes cost value from question blank of more time.
3, must carry out a large amount of interpolation arithmetics in the scan conversion process, usually all be floating-point operation, and the question blank storage generally is floating type scan conversion parameter, during Practical Calculation, system takes out these parameters and calculates from table, because the floating type data operation expends time in more much more than the integer, from and further increase time overhead.
4, need only handle the view data that to observe from the practical standpoint system, and above-mentioned prior art is in described follow-up three-dimensional reconstruction, view picture two-dimensional image data (comprising a lot of inactive area) is handled, both lost time, influenced the observing effect of final 3-D view again because of the interference of invalid data.
The summary of the invention the technical problem to be solved in the present invention is at above-mentioned the deficiencies in the prior art, and the method for a kind of rapid scanning exchange proposed, can in the short as far as possible time, come conversion to produce the needed rectangular coordinate volume data of follow-up three-dimensional reconstruction according to data that scanning probe obtains, and in the reduction data handling procedure to the spatial requirement of internal memory, thereby solve three-D ultrasonic real-time problem.
For solving the problems of the technologies described above, of the present inventionly be contemplated that substantially: use probe in a series of equal angles plane at interval, object to be done sector scanning respectively, obtain the polar data and the storage of sequence two dimensional image; Set up the symmetry model of a described scanning process of correspondence by system, need only carry out the scan conversion of polar coordinate and rectangular coordinate, just described storage data can be converted to the needed volume data of three-dimensional reconstruction, offer follow-up three-dimensional reconstruction obtaining three-dimensional ultrasound pattern, thereby save memory headroom and accelerate computational speed.
As the technical scheme that realizes the present invention's design be, a kind of quick scanning conversion method that is used for 3-D supersonic imaging be provided, be used for coming conversion to produce the rectangular coordinate volume data of follow-up three-dimensional reconstruction needs, comprise step according to data that scanning probe obtains:
A. use probe respectively at the plane interscan object of a series of equal angles interval θ, obtain the sequential image data of two dimension and store these data; Wherein θ is a predetermined constant;
B. according to the scan-data of described storage, carry out interpolation calculation and handle the view data and the storage of obtaining each non-scanning element of three dimensions, as the needed volume data of three-dimensional reconstruction;
Especially, comprise among the described step B and set up the scan conversion model, calculate the basis of each point data of three dimensions according to described storage data conversion as system, described scan conversion model is: the array direction with described probe is a directions X, sound wave transmit direction with half place of sector scanning span angle [alpha] is the Z direction, perpendicular to the planar direction of X-z is the Y direction, a three dimensions rectangular coordinate system M who sets up; If described sequential image data is
N
1(x，r)，N
2(x，r)，N
3(x，r)，...，N
n(x，r)，
For n arbitrarily, satisfy φ
n(x, r)-φ
N-1(x, r)=θ, wherein φ
nBe N
n(then under described coordinate system M, sequence image is to N for x, the r) angle of the plane of delineation and Z axle
1(x, r) and N
n(x, r), N
2(x, r) and N
N-1(x, r), N
3(x, r) and N
N-2(x, r) ... N
i(x, r) and N
N-i+1(x, r) plane symmetry that on the locus, constitutes respectively about X-axis and Z axle; 1≤i≤int[(n+1)/2 wherein].
In the such scheme, described step B comprises detailed process:
A. sequential image data is read earlier by system from memory headroom;
B. the zone of chosen in advance scan conversion in the two-dimensional image data of each sequence units;
C. based on described scan conversion model selection area is carried out the view data that interpolation arithmetic produces each non-scanning element.
In the such scheme, described step c carries out interpolation based on the scan conversion model and obtains the process of each point data of three dimensions and comprise:
1. system at first sets X initial value, X=x
0
2. with any point E (y in the scan conversion scope F on the corresponding Y-Z plane P
0, z
0) transform to the respective point E (r in the polar coordinate system
0, θ
0);
3. when the E point belongs to non-scanning element, polar coordinate system this E (r that neutralizes selects in system
0, θ
0) point immediate some scanning elements data carry out interpolation calculation, obtain described E (y
0, z
0) point view data and store this data;
4. make X=x
0+ 1,2. repeating step does same processing to the arbitrary Y-Z plane in the X sweep limits one by one, and each point data in obtaining the coordinate system space M realizes the conversion of sequential image data to volume data.
In the such scheme, utilize E point (y
0, z
0) and E (r
0, θ
0) fixed correspondence one by one, system is provided with a question blank, comprises that precalculated correspondence the (r of each point in the coordinate system space M
0, θ
0) value, the coordinate transform 2. of described step is finished by looking into this question blank.
Described question blank comprises that also precalculated correspondence the interpolation coefficient of each point in the coordinate system space M.
Adopt above-mentioned each technical scheme, can be based on the symmetry of described model, in conjunction with calculating the scan conversion parameter in advance and depositing in the question blank, floating-point operation be converted into several data processing methods such as integer arithmetic and accelerate computational speed, thereby significantly reduce the data computation time in the 3-D scanning conversion, and reduce system data and handle the spatial requirement of internal memory, so accelerated the speed of three-dimensional imaging under the sector scanning, can requirement of real time.
Description of drawings Fig. 1 is flow chart of data processing figure of the present invention
Fig. 2 is the scan conversion illustraton of model
Fig. 3 is the fixing corresponding Y-Z floor map of X value in the scan conversion model;
Fig. 4 puts in the Y-Z plane at the spatial mapping sketch map of R-θ;
Fig. 5 is a linear interpolation process sketch map
Fig. 6 is the question blank sketch map
Below the specific embodiment, the most preferred embodiment shown in is further set forth the present invention in conjunction with the accompanying drawings.
The present invention is used for ultrasound scan data is carried out the quick scanning conversion method that three-dimensional coordinate transformation generates volume data, with the one-dimensional array probe is that example (but is not limited to the one dimension probe, obtain the ultrasonic system of data by the probe fan sweeping, as comprise that 1.5 tie up the three-dimension ultrasonic imaging system of mechanical probes, all can use the inventive method), as shown in Figure 1, comprise step:
A. use probe (can make described each plane of scanning motion be common edge at the plane interscan object of a series of equal angles interval θ respectively by the swing of probe with the array element direction of array probe, and angle intervals θ is a predetermined constant between adjacent two planes), in each plane, the scanning of probe all generates the view data of a width of cloth two dimension, a plurality of two dimensional images after a plurality of flat scannings have just constituted an image sequence, then with the image data storage of this sequence in internal memory;
B. according to the scan-data of described storage, carry out interpolation calculation and handle the view data of obtaining each non-scanning element of three dimensions, and be saved in the internal memory, as the needed volume data of three-dimensional reconstruction; This volume data is handled to produce through the three-dimensional reconstruction of system and is sent to the 3 d image data that display device shows.
Wherein set up the scanning exchange model, it is each point data of three dimensions is calculated by system according to described storage data conversion basis, described scan conversion model is (as shown in Figure 2): the array direction with described probe is a directions X, sound wave transmit direction with half place of sector scanning span angle [alpha] is the Z direction, perpendicular to the planar direction of X-z is the Y direction, a three dimensions rectangular coordinate system M who sets up; If described sequential image data is
N
1(x，r)，N
2(x，r)，N
3(x，r)，...，N
n(x，r)，
For Integer n arbitrarily, satisfy φ
n(x, r)-φ
N-1(x, r)=θ, wherein φ
nBe N
n(then under described coordinate system M, sequence image is to N for x, the r) angle of the plane of delineation and z axle
1(x, r) and N
n(x, r), N
2(x, r) and N
N-1(x, r), N
3(x, r) and N
N-2(x, r) ... N
i(x, r) and N
N-i+1(x, r) plane symmetry that on the locus, constitutes respectively about X-axis and z axle; 1≤i≤int[(n+1)/2 wherein].
The detailed process of described step B is: sequential image data is read earlier by system from memory headroom; The zone of chosen in advance scanning exchange in the two-dimensional image data of each sequence units; Based on described scan conversion model the view data that interpolation arithmetic produces each non-scanning element is carried out in selected zone.The general linear interpolation arithmetic that uses has good real-time performance.And the zone of chosen in advance scan conversion (is the zone of three-dimensional reconstruction, call " domain transformation " in the following text), only these regional data are carried out scan conversion, the data volume that can reduce processing can also make the three-dimensional result image avoid being subjected to the interference of inactive area data to save conversion time.
If this domain transformation is chosen as R in advance, present embodiment with the rectangle be example (but be not limited to rectangle, can also be other shape) as circle, polygon etc. further explain based on as described in the interpolation arithmetic process of scan conversion model.If the near-end of region R and far-end are respectively R apart from X-axis
1And R
2Fig. 3 has shown X=x
0The time, the distribution situation of sequential image data point on the Y-Z plane P.The planar intersecting lens of each sequence image and P is
N
1(x
0，r)，N
2(x
0，r)，N
3(x
0，r)，…，N
n(x
0，r)，
R ∈ (R wherein
1, R
2), the angle intervals of adjacent two lines is constant θ.
Usually scan conversion system is at first according to R
1And R
2Calculate the scan conversion scope F on the Y-Z plane P, with any point E (y among the F
0, z
0), by formula (1):
Transform to the E (r in the polar coordinate system
0, θ
0), as Fig. 4.
Then when the E point belongs to non-scanning element, polar coordinate system this E (r that neutralizes selects in system
0, θ
0) point immediate some scanning elements data carry out interpolation calculation, obtain described E (y
0, z
0) point view data and store this data; With 4 A, B, C, D, linear interpolation is example (but be not defined as 4 points, also be not defined as linear interpolation), and computing formula is:
G
E＝G
A*T
A+G
B*T
B+G
C*T
C+G
D*T
D (2)
G wherein
pThe image data value that expression P is ordered, P ∈ { A, B, C, D, E}, T
A, T
B, T
C, T
DBe respectively the E point corresponding to point of proximity A, B, the interpolation coefficient that C, D are ordered is seen Fig. 5, establishes Δ R1, Δ R2, Δ θ 1, Δ θ 2 and be respectively in the polar coordinate system E point to described coordinate difference at 4, it is as follows to get computational methods:
T＝(ΔR
1+ΔR
2)*(Δθ
1+Δθ
2)
Like this, can obtain X=x
0All point data in the transformation range F.
Then system can make X=x
0+ 1, one by one same processing is done on the arbitrary Y-Z plane in the X sweep limits, thereby obtained each point data in the coordinate system space M, realize the conversion of sequential image data to volume data.
The said process amount of calculation is very huge.For example, usually the scope of X is 400, if the scope of F is 800*600, then total 400*800*600=192,000,000 data point, and for each data point, algorithm all needs to carry out computings such as the extraction of square root of formula (1), (2), a plurality of addition subtraction multiplication and divisions of anti-trigonometric sum, so if can't be accomplished real-time conversion routinely at all.Because E point (y
0, z
0) and E (r
0, θ
0) be fixing one by one corresponding, therefore a question blank can be set, with (r
0, θ
0) value calculate in advance and put into question blank (as shown in Figure 6), so just omitted the calculating of formula (1), in question blank, obtain (r
0, θ
0) after carry out the calculating of formula (2), though reduced the part conversion time like this, total conversion time still is very big.Therefore, the embodiment of the invention comprises that also following measure reduces conversion time.
One of measure is, because as shown in Figure 3, there is the some S of the plane symmetry that constitutes about X-axis and Z axle in any point E among the F, and their scan conversion parameter has following relation:
r
e＝r
0，θ
e＝π-θ
s，
Interpolation coefficient also is one to one, according to the corresponding relation between this symmetry characteristic and the scanning exchange parameter, just can make an appointment with half to precalculated question blank reduction, only need the conversion coefficient of each point in the first quartile among Fig. 3 is deposited in the question blank, the transformation parameter correspondence of a list cell of promptly described question blank belongs to 2 points (or on the plane of X-axis and Z axle formation a bit) of the plane symmetry that constitutes about X-axis and Z axle in the coordinate system space M.When calculating E point data value,, calculate the value that S is ordered synchronously like this,, just the memory headroom of query time and storing queries table has all been reduced half because of once calculating two data according to symmetry.
Two of measure is through after the above-mentioned improvement, then will carry out the calculating of formula (2), wherein G
pBe the image data value that each scanning obtains, its conversion with each scanning, and for T in the formula (3)
A, T
B, T
C, T
DInterpolation coefficient, different points have different interpolation coefficients, but the interpolation coefficient of same point does not change with scanning times under the constant situation of sweep spacing angle θ.When cause uniformly-spaced scans, angle θ adjusts the back and is fixed constant, so can calculate the interpolation coefficient of each point in advance, and deposit in the transformation parameter of this point in the question blank, system is when inquiring about the coordinate conversion parameter of any like this, can obtain this point interpolation coefficient in the lump, thereby omit computing, greatly shorten computation time formula (3).
Three of measure is, because CPU (arithmetic and control unit) is different to the processing speed of floating-point operation and integer arithmetic, the time of carrying out a floating-point operation is carry out an integer arithmetic time doubly a lot of, even specially floating-point operation has been carried out the senior CPU that optimizes, the time of carrying out floating-point operation is also slow than integer arithmetic; And in formula 2 G
pBe integer, T
A, T
B, T
C, T
DBe floating number, if T
A, T
B, T
C, T
DBe converted to integer, just original floating-point operation can be converted to integer arithmetic, accelerate computation time.In ultrasonoscopy, the GTG of using usually at present is 0-255, that is to say final G
EValue intercepting at 0-255, as long as the computational accuracy that guarantees formula 2 the right behind arithmetic point one just can not cause the distortion of data.Therefore, can adopt a predetermined integers factor I to multiply by interpolation coefficient and obtain integer, and preserve in the interpolation table (as shown in Figure 6), will answer figure place according to these results who is worth integer arithmetic phase shift of turning right at last, can obtain meeting the value of precision.Such as getting I=65536=2
16, end product moves to right 16, just can satisfy the requirement of view data precision, and reduces computation time once more because of the integer computing.
Fig. 6 is the question blank that generates in conjunction with above-mentioned multiple measure, for each point, comprises 6 parameters, and wherein two is spatial alternation parameter (r
0, θ
0), four is integer interpolation coefficient I*T
A, I*T
B, I*T
C, I*T
DThe embodiment of the invention has good real-time.
Claims (9)
1. a quick scanning conversion method that is used for 3-D supersonic imaging is used for coming conversion to produce the rectangular coordinate volume data of follow-up three-dimensional reconstruction needs according to data that scanning probe obtains, and comprises step:
A. use probe respectively at the plane interscan object of a series of equal angles interval θ, obtain the sequential image data of two dimension and store these data; Wherein θ is a predetermined constant;
B. according to the scan-data of described storage, carry out interpolation calculation and handle the view data and the storage of obtaining each non-scanning element of three dimensions, as the needed volume data of three-dimensional reconstruction;
It is characterized in that described step B comprises:
Set up the scan conversion model, as the basis of system according to each point data of scan-data transformation calculations three dimensions of described storage; Described scan conversion model is: the array direction with described probe is a directions X, is the Z direction with the sound wave transmit direction at half place of sector scanning span angle [alpha], is the Y direction perpendicular to the planar direction of X-Z, a three dimensions rectangular coordinate system M who sets up; If described sequential image data is
N
1(x，r)，N
2(x，r)，N
3(x，r)，...，N
n(x，r)，
For Integer n arbitrarily, satisfy φ
n(x, r)-φ
N-1(x, r)=θ, wherein φ
nBe N
n(then under described coordinate system M, sequence image is to N for x, the r) angle of the plane of delineation and Z axle
1(x, r) and N
n(x, r), N
2(x, r) and N
N-1(x, r), N
3(x, r) and N
N-2(x, r) ... N
i(x, r) and N
N-i+1(x, r) plane symmetry that on the locus, constitutes respectively about X-axis and Z axle; 1≤i≤int[(n+1)/2 wherein].
2. according to the described quick scanning conversion method that is used for 3-D supersonic imaging of claim 1, it is characterized in that described step B comprises detailed process:
A. sequential image data is read earlier by system from memory headroom;
B. the zone of chosen in advance scan conversion in the two-dimensional image data of each sequence units;
C. based on described scan conversion model the view data that interpolation arithmetic produces each non-scanning element is carried out in selected zone.
3. according to the described quick scanning conversion method that is used for 3-D supersonic imaging of claim 2, it is characterized in that described step c carries out interpolation based on the scan conversion model and obtains the process of each point data of three dimensions and comprise:
1. system at first sets X initial value, X=x
0
2. with any point E (y in the scan conversion scope F on the corresponding Y-Z plane P
0, z
0) transform to the respective point E (r in the polar coordinate system
0, θ
0);
3. when the E point belongs to non-scanning element, polar coordinate system this E (r that neutralizes selects in system
0, θ
0) point immediate some scanning elements data carry out interpolation calculation, obtain described E (y
0, z
0) point view data and store this data;
4. make X=x
0+ 1,2. repeating step does same processing to the arbitrary Y-Z plane in the X sweep limits one by one, and each point data in obtaining the coordinate system space M realizes the conversion of sequential image data to volume data.
4. according to the described quick scanning conversion method that is used for 3-D supersonic imaging of claim 3, it is characterized in that:
Described step 3. in, system is selected and described E (r
0, θ
0) immediate four the scanning element A of point, B, C, the data of D are carried out linear interpolation and are calculated: G
E=G
A* T
A+ G
B* T
B+ G
C* T
C+ G
D* T
D
G wherein
pThe image data value that expression P is ordered, P ∈ { A, B, C, D, E}, T
A, T
B, T
C, T
DBe respectively the E point corresponding to A, B, the interpolation coefficient that C, D are ordered is established Δ R1, Δ R2, Δ θ 1, Δ θ 2 are respectively that the E point is to described coordinate difference in the polar coordinate system at 4, then interpolation coefficient is defined as:
T＝(ΔR
1+ΔR
2)*(Δθ
1+Δθ
2)
5. according to the described quick scanning conversion method that is used for 3-D supersonic imaging of claim 3, it is characterized in that:
Utilize E point (y
0, z
0) and E (r
0, θ
0) fixed correspondence one by one, system is provided with a question blank, comprises that precalculated correspondence the (r of each point in the coordinate system space M
0, θ
0) value, the coordinate transform 2. of described step is finished by looking into this question blank.
6. according to the described quick scanning conversion method that is used for 3-D supersonic imaging of claim 5, it is characterized in that:
Described question blank comprises that also precalculated correspondence the interpolation coefficient of each point in the coordinate system space M.
7. according to the described quick scanning conversion method that is used for 3-D supersonic imaging of claim 6, it is characterized in that:
Described each interpolation coefficient is the integer number, and comprises a predetermined integers factor I.
8. according to the described quick scanning conversion method that is used for 3-D supersonic imaging of claim 7, it is characterized in that:
Described integer factor I=2
nThe each point result data that calculates according to described interpolation coefficient will be moved to right behind the n position, be stored as result data.
9. according to claim 5 or the 6 described quick scanning conversion methods that are used for 3-D supersonic imaging, it is characterized in that:
The transformation parameter correspondence of a list cell of described question blank belongs to 2 points of the plane symmetry that constitutes about X-axis and Z axle in the coordinate system space M, or on the plane of X-axis and Z axle formation a bit.
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Application publication date: 20070110 Assignee: Shenzhen Mindray Animal Medical Technology Co.,Ltd. Assignor: SHENZHEN MINDRAY BIO-MEDICAL ELECTRONICS Co.,Ltd. Contract record no.: X2022440020009 Denomination of invention: Fast scan conversion method for 3D ultrasound imaging Granted publication date: 20090701 License type: Common License Record date: 20220804 |