CN100536789C - Mechanical scanning realtime three-dimension ultrasonic imaging system and method - Google Patents
Mechanical scanning realtime three-dimension ultrasonic imaging system and method Download PDFInfo
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Abstract
The present invention relates to a real-time three-dimensional ultrasonic imaging system based on mechanical scanning. It includes the following several portions: PC machine with USB interface and serial interface, two-dimensional ultrasonic scanner with digital interface, stepping motor and its control and drive portion, in which the USB interface of PC machine is connected with digital interface of said ultrasonic scanner, the serial interface of PC machine is connected with the communication port of the control and drive portion, and the output end of drive module in control and drive portion is connected with input end of stepping motor, the rotary shaft of said stepping motor is fixedly connected with ultrasonic probe of said ultrasonic scanner. Said method includes the following steps: setting scanning parameter; calculating relative position relationship of image; probe initial position resetting; space data collection; three-dimensional data reconstruction; and implementing dynamic image formation of space three-dimensional image.
Description
Technical field:
The present invention relates to the ultra sonic imaging field, particularly a kind of real-time three-dimensional ultrasonic image-forming system and method thereof based on mechanical scanning.
Background technology:
3-D supersonic imaging is with respect to the again leap of conventional two-dimensional ultra sonic imaging in the medical imaging diagnosis field, it has overcome the problem that can't be described the three-dimensional information of the object to be imaged in the two-dimensional imaging, thereby makes the demonstration of accurate measurement, histoorgan spatial shape of volume and description and three-dimensional imaging guiding become possibility.
At present both at home and abroad the 3-D supersonic imaging method mainly contains direct three-dimensional imaging and based on the 3-D supersonic imaging two big classes of rebuilding, because direct three-D imaging method hardware price costliness, and the imageable target zone is little, therefore, present three-dimension ultrasonic imaging system major part both domestic and external all is based on the method for reconstruction.Scan method difference according to three-dimensional data is obtained mainly contains mechanical scanning based on the method for rebuilding, mechanical free arm location, position pick off navigation systems such as sound, magnetic.Mechanical scanning mode positional accuracy measurement does, and the reconstructed image distortion is little, and reconstructed image can be used for carrying out quantitative analysis, and its accurate space orientation ability, has immeasurable using value aspect insertion type treatment and the image-guided.
Three-dimensional imaging Study on Technology based on reconstruction there has been the history of more than ten years both at home and abroad, and has all obtained certain achievement in all fields.In clinical practice, the doctor requires to obtain diagnosis position information accurate as far as possible and as much as possible on the one hand, thereby makes diagnosis accurately as far as possible; On the other hand, require image taking speed fast as much as possible, preferably real-time.In reconstruction of three-dimensional ultrasonic image-forming system in the past, generally be by a video frequency collection card, analog video signal on the two-dimensional ultrasound machine screen is carried out digital collection, then the digital picture of these collections is realized the reconstruction and the demonstration of 3-D view in PC.In this process, digitized gatherer process makes signal that certain distortion be arranged, and the transmission frame per second of video signal is limited, makes can not to mate between the signal of the digital signal be used for three-dimensional reconstruction and ultrasonic probe data acquisition.Particularly, probe technologies and development of electronic technology in recent years, the imaging frame rate of B ultrasonic instrument is more and more higher, even reaches 100 frames/more than second, and the video of 25 frame/seconds and 50 frame/seconds transmits standard and far can not reach application requirements.
Summary of the invention
Problem to be solved by this invention provides a kind of mechanical scanning realtime three-dimension ultrasonic imaging system and method, this system and method can obtain primary two-dimentional B ultrasonic image undistortedly, overcome in the existing 3-D supersonic imaging work station, the utilization video frequency collection card carries out distortion in the digital collection process to B ultrasonic instrument screen, overcome the speed restriction of video transmission standard simultaneously, realization is synchronous with B ultrasonic instrument imaging frame rate.
Real-time three-dimensional ultrasonic image-forming system based on mechanical scanning provided by the present invention is on the conventional two-dimensional Ultrasound Instrument, utilize stepping motor to drive ultrasonic probe sector scanning is carried out in the target area, simultaneously the sequence two dimension B ultrasonic digital picture of Ultrasound Instrument being obtained by USB or network interface from its internal digital interface real-time distortion-free pass to the PC internal memory, finishing three dimensional ultrasonic image data in PC in real time rebuilds, realize the real-time volume drawing of three-dimensional data or other the mode of playing up simultaneously, and realize the 3D/4D ultra sonic imaging on this basis.
According to the present invention, described system comprises: the PC with serial line interface and USB interface or serial line interface and network interface card interface; B ultrasonic instrument that is used to produce diagnosis position two dimension B ultrasonic image with digital interface; Stepping motor and control thereof and drive part, control is connected with the input of driver module with the output of controller in the drive part, the output of driver module is connected with the input of stepping motor, and the rotating shaft of stepping motor is fixedlyed connected with the ultrasonic probe of B ultrasonic instrument; The USB of PC or network interface card interface are connected with the digital interface of B ultrasonic instrument, and the PC serial ports is connected with the communication port of the controller of control and drive part.
The ultrasonic probe of described stepping motor and B ultrasonic instrument becomes one.
Controller in above-mentioned control and the drive part and driver module are integrated into a circuit board, and adopt single-chip microcomputer or dsp chip as the control of controller realization to probe movement.
The present invention also provides the formation method that adopts above-mentioned mechanical scanning realtime three-dimension ultrasonic imaging system, may further comprise the steps:
Step 1: the sweep parameter that stepping motor drives probe is set: sweep limits α, scanning speed s and scanning direction;
Step 2: the relative position relation that calculates each the frame profile image in the sweep limits according to the imaging frame rate of sweep parameter and B ultrasonic instrument; This relative position relation determines that with the angle σ between each frame profile image its computing formula is: σ=s/ (B ultrasonic instrument imaging frame rate-1);
Step 3: the ultrasonic probe initial position resets: with the position at α in the sweep limits α/2 places as the initial position of probe and the reference position of three-dimensional reconstruction; If online parameter adjusting, the initial reference position that the residing position of then popping one's head in when parameter is regulated rebuilds as the three-dimensional data under new parameter is provided with of having carried out in scanning process;
Step 4: drive scanning probe, the two-dimensional ultrasound digital picture that the B ultrasonic instrument is collected constantly is sent to the PC internal memory from its digital interface through PC USB interface or network interface card interface, finishes the data acquisition in extraterrestrial target zone;
Step 5: to the selected determined spatial volume of sweep limits, PC utilizes the data of being gathered to carry out the reconstruction of 3D data volume according to each two field picture azimuth information;
Step 6: upgrade original three-dimensional data, the dynamic imaging of implementation space 3-D view with the 3D data volume after rebuilding; And go to step 4, if the three-dimensional ultrasound pattern guiding then repeats this process and selects to finish until user,, then repeat this process and after finishing set scanning times, finish automatically if be used for auxiliary diagnosis.
Above-mentioned three-dimensional data is rebuild and is comprised the steps: that also (1) obtains the locus of every frame two dimensional cross-section image according to the spatial relation of probe initial position and two dimensional cross-section image; (2) set up the reconstructed coefficients table; (3) obtain the internal memory first address of storing source data; (4) determine four sampled points of 3-D view pixel arest neighbors, read its gray value; (5) search the reconstructed coefficients table, the utilization bilinear interpolation method is finished the reconstruction of 3-D view pixel gray value.
Among the present invention, the conventional two-dimensional ultrasonic machine must provide the digital picture output interface, and the real-time two-dimentional B ultrasonic digital picture of being obtained from then on USB or the network interface of interface by PC is sent in the calculator memory.Adopt this digital interface technology, can obtain primary two-dimentional B ultrasonic image undistortedly, overcome in the general 3-D supersonic imaging work station, the utilization video frequency collection card carries out distortion in the digital collection process to B ultrasonic instrument screen, overcome the speed restriction of video transmission standard simultaneously, realization is synchronous with B ultrasonic instrument imaging frame rate.The control system accessory drive drives probe and carries out spacescan, after the extraterrestrial target sector scanning finished, the sequence two dimensional cross-section image of reflection organization internal information just all enters calculator memory, and realizes that in computer 3D image reconstruction and volume drawing and other play up mode.In native system, the angular range of spacescan, scanning speed, and the size in three-dimensional reconstruction zone can regulate as required, reaches the optimum setting under the different application condition.The spatial positional information of the needed every frame two dimensional image of 3D image reconstruction is by the parameter setting of the scan control characteristics of motion---the running speed of the initial position of ultrasonic probe, the angular range of scanning space, stepping motor, and the imaging frame rate of B ultrasonic instrument---carry out predefine.Mechanical scanning is other pick off spatial position measuring mode relatively, and precision is higher, does not have more requirement to using environment, and behind parameter setting, spatial relation can pre-determine, and needn't calculate in real time in scanning process, thereby has higher reconstruction precision and speed.Whenever finish primary space scanning, upgrade one time three-dimensional data, therefore, the turnover rate of 3-D view is relevant with the scanning speed of stepping motor, is subjected to the restriction of 3 d image data reconstruction speed simultaneously.
Description of drawings
Fig. 1 is of the present invention based on mechanical scanning realtime three-dimension ultrasonic imaging system figure;
Fig. 2 is of the present invention based on the mechanical scanning realtime three-dimension ultrasonic imaging method flow diagram;
Fig. 3 is based on mechanical sector scan real-time three-dimensional ultra sonic imaging three-dimensional reconstruction frame construction drawing;
Fig. 4 data are rebuild the bilinear interpolation method sketch map
The specific embodiment
According to the present invention, described based on the mechanical scanning realtime three-dimension ultrasonic imaging system hardware block diagram as shown in Figure 1.Mainly by forming: conventional two-dimensional B ultrasonic instrument and probe thereof with digital interface with the lower part; One of ordinary PC with USB or network interface card interface and serial port; Drive control system, driving device and the stepping motor of scanning probe.Three parts realize in the clinical diagnosis diagnosing the three-dimensional imaging and the diagnostic process of position real-time, interactive by carry out management, coordination and the date processing of hardware resource based on the mechanical scanning realtime three-dimension ultrasonic imaging software system.
Described conventional two-dimensional B ultrasonic instrument should have the USB digital interface, the echo-signal that ultrasonic probe collected formed digital picture in Ultrasound Instrument can send out from this digital interface in real time, by being connected with the USB interface of PC, be sent in the internal memory of PC, realize the collection and the transmission of data, for PC provides three-dimensional ultrasound pattern reconstruction and the necessary data that shows.
Described PC should have USB interface (or network interface card interface) and serial line interface, and wherein the USB mouth links to each other with the digital interface of the super instrument of traditional B, receives B ultrasonic spatial sequence that instrument collects two dimension B ultrasonic profile image data; The effect of serial port is the communication that realizes with control system, comprises being provided with etc. of synchronous, law of scanning movement parameter of the beginning of mode, scanning of scanning and end signal, data acquisition and reconstruction signal.
Described control system is to adopt single-chip microcomputer to realize the various scan modes of probe and the control of different motion rule as controller, and realize with its communication and necessary parameter function being set by the PC serial port, use a stepping motor to realize driven sweep simultaneously to conventional two-dimensional B ultrasonic instrument probe by machinery.
Described control system can be carried out online adjusting to the sweep limits and the scanning speed of stepping motor, and driver module and motor real-time response parameter regulate, and does not need to reset again to be implemented in scanning and the 3D image reconstruction of new parameter under being provided with.
Fig. 2 is the flow chart that the present invention is based on the mechanical scanning realtime three-dimension ultrasonic imaging method.One is the spatial relation of the every frame two dimensional cross-section image of record aspect important in 3D image reconstruction.Adopt the mode of mechanical scanning in the native system, the characteristics of motion of scanning can be set in advance (setting of control system parameter) by control system, under the characteristics of motion of determining and definite probe imaging frame rate, the relative position relation of each two dimensional cross-section image is determined, just can pre-determine the needed whole spatial positional informations of three-dimensional reconstruction as long as determine the probe initial position.After setting is finished, under the driving of stepping motor, carry out spacescan according to the predetermined characteristics of motion, the two dimensional cross-section image that Ultrasound Instrument is obtained is constantly delivered to the internal memory of PC by the USB oral instructions, according to driving the synchronizing information that control beginning and transfer of data begin and the characteristics of motion of motor, can obtain in the scanning space scope serial two dimensional cross-section image data and relative position relation thereof in the volume arbitrarily, for the reconstruction of three-dimensional data provides whole necessary conditions.After realizing 3D image reconstruction, upgrade data volume, carry out volume drawing or alternate manner and play up.The turnover rate of 3D data volume and probe imaging frame rate, the volumetrical size of imaging, the speed of scanning is relevant, and is subjected to the restriction of three-dimensional data volume reconstruction.
According to the present invention, described mechanical scanning realtime three-dimension ultrasonic imaging software system realizes that in PC method flow is seen Fig. 2.The mechanical scanning realtime three-dimension ultrasonic imaging method of this software comprises the steps:
Step 1: the sweep parameter that stepping motor drives probe is set: sweep limits α, scanning speed s, scanning direction.
Step 2: the relative position relation that calculates each the frame profile image in the sweep limits according to the imaging frame rate of sweep parameter and two-dimentional B ultrasonic instrument system.
Step 3: the ultrasonic probe initial position resets.If online parameter adjusting, the initial reference position that the residing position of then popping one's head in when parameter is looked after and guided rebuilds as the three-dimensional data under new parameter is provided with of having carried out in scanning process.
Step 4: drive scanning probe, the two-dimensional ultrasound digital picture that the B ultrasonic instrument is collected constantly is sent to the PC internal memory from its digital interface through PC USB mouth (or network interface card interface), finishes the data acquisition in extraterrestrial target zone.
Step 5: to selected spatial volume, PC utilizes the data of being gathered to carry out the reconstruction of 3D data volume according to each two field picture azimuth information.
Step 6: upgrade original three-dimensional data, the dynamic imaging of implementation space 3-D view with the 3D data volume after rebuilding.And go to step 4, repeat this process until end.
In the described step 1, the scope of sweep limits α decision imaging region can be spent to 75 degree dynamic adjustments from 30.Scanning speed s can be provided with according to spatial resolution on the scanning direction and 3-D view turnover rate, and its dynamic range is that 4 degree/seconds are to 200 degree/seconds.Scan the restriction that maximum speed is subjected to the three-dimensional data reconstruction time simultaneously.These parameters can online real-time adjusting in running.
In the described step 2, the relative position relation of two frame two dimensional cross-section images can determine that its computing formula is with the angle between them: σ=s/ (B ultrasonic instrument imaging frame rate-1).
In the described step 3, the effect that probe resets is to rebuild for three-dimensional data the reference position datum mark is provided, this is because three-dimensional reconstruction need be known the real space position of every frame two dimensional image in sweep limits, and the characteristics of motion of motor can only be obtained the relative position of each interframe, so need a given space reference point.When moving for the first time, resetting of ultrasonic probe initial position is to make probe be in the centre of sweep limits, in scanning process, just can calculate any time ultrasonic probe location in space by the transfer regularity of this reference position and motor, promptly this moment the two dimensional cross-section ultrasonoscopy the locus.If parameter has been carried out online adjusting in running, because in scanning process, the position of any time probe all is known, pops one's head in residing position as initial reference position in the time of just can be with parameter change, and center-aligned again realizes real-time response.In the practical application, length according to control accuracy and sweep time, in order to reduce cumulative errors, after scanning a period of time, may need new accurate location is carried out once in the locus of probe, its method is as follows: control probe makes it exceed sweep limits, and the mounting hardware of restriction sweep limits will be forced to pop one's head in and is parked in this position, this positional information as new position reference position.
In the described step 4, spread out of the digital picture of coming from digital interface and form by the detected echo-signal reconstruction of ultrasonic probe.In the traditional B ultrasonic image-forming system, imaging process generally is: simulated sound wave signals, and---digital signal---forms digital picture---, and analog video shows.In the former work station, generally be analog video signal to be gathered, make it digitized, in PC, further process with the image behind these digitizeds with image pick-up card.In this process, on the one hand in picture signal from numeral---the process of A-D analog-digital information distortion is arranged, on the other hand, the transmission of current video signal generally has only two kinds of standards of 25 frame/seconds and 50 frames/second, has limited the speed of transfer of data.The development of modern ultrasonic imaging technique, B ultrasonic instrument imaging frame rate have reached that 100 frames/more than second, the video transmission can not be satisfied the transmission requirement synchronous with it.Native system directly reads the internal digital picture signal of ultrasonic system, has avoided from digital to analogy again to the information distortion of numeral, and has broken through the restriction of video signal standard.
In the described step 5, the process of three-dimensional reconstruction as shown in Figure 3.As can be seen from Figure 3, in order to obtain under the rectangular coordinate system gray value of each volume elements in the 3-D view, the interpolation process of a resampling of needs.Select scanning rotating shaft direction as the z axle, then adopt bilinear interpolation at x-y on the plane, sketch map is seen Fig. 4, and the gray scale computing formula is: P
s=(1-f
θ) f
rP
a+ f
θf
rP
b+ f
θ(1-f
r) P
c+ (1-f
θ) (1-f
r) P
dF wherein
θ=δ
θ/ α, f
r=δ
r, δ
θ=| θ-θ
1|, δ
r=| rp-r|; P
a, P
b, P
c, P
dBe respectively the nearest a of range points P on the same plane, b, c, the gray value of four points of d, θ is the some plane that P and rotation centerline determined and the planar angle in reconstruction initial frame place, θ
1Be nearest former frame image plane of a P and the planar angle in reconstruction initial frame place, rp is the distance of some P to central point, and r is the distance of the nearest sampled point of close central point one side of P point to central point.On the z direction, the volume elements of same position concerns it is identical in the position of four nearest points on every side with it on x-y plane, be that reconstructed coefficients equates, and four memory locations of point in internal memory of the arest neighbors that is used for rebuilding also are along the skew that fixes of z direction, therefore can set up the form that stores reconstructed coefficients and rebuild reference point locations in advance on x-y plane, and carry out three-dimensional reconstruction along the z direction, and just can reduce amount of calculation, accelerate the three-dimensional reconstruction process.Process of reconstruction may further comprise the steps: (1) obtains the locus of every frame two dimensional cross-section image according to the spatial relation of probe initial position and two dimensional cross-section image; (2) set up the reconstructed coefficients table, the detailed method list of references, S.Tong, D.B.Downey, H.N.Cardinal, A.Fenster, A Three-Dimensional Ultrasound ProstateImaging System, Ultrasound in Medicine and Biology, 22 (6), pp.735-746,1996; (3) obtain the pointer of storing source data; (4) determine four sampled points of space volume elements arest neighbors, read its gray value; (5) search the reconstructed coefficients table, the utilization bilinear interpolation method is finished the reconstruction of space volume elements gray value.In above step, the 4th step can be determined under polar coordinate system when determining four sampled points of space volume elements arest neighbors, and also can determine under rectangular coordinate system after sampled point is mapped to rectangular coordinate.Definite method of preceding a kind of point has higher reconstruction precision to circular-arc edge, and for linear edge bigger distortion is arranged in the far field, for this class edge, determines that with a kind of point in back precision of method will be high.
Claims (5)
1, a kind of mechanical scanning realtime three-dimension ultrasonic imaging system is characterized in that comprising:
PC with serial line interface and USB interface or serial line interface and network interface card interface;
B ultrasonic instrument that is used to produce diagnosis position two dimension B ultrasonic image with digital interface;
Stepping motor and control thereof and drive part, control is connected with the input of driver module with the output of controller in the drive part, the output of driver module is connected with the input of stepping motor, and the rotating shaft of stepping motor is fixedlyed connected with the ultrasonic probe of B ultrasonic instrument; The USB of PC or network interface card interface are connected with the digital interface of B ultrasonic instrument, and the PC serial ports is connected with the communication port of the controller of control and drive part.
2, system according to claim 1 is characterized in that: the ultrasonic probe of described stepping motor and B ultrasonic instrument becomes one.
3, system according to claim 1 and 2 is characterized in that: controller and driver module in control and the drive part are integrated into a circuit board, and adopt single-chip microcomputer or dsp chip as the control of controller realization to probe movement.
4, adopt the formation method of the described mechanical scanning realtime three-dimension ultrasonic imaging system of claim 1, may further comprise the steps:
Step 1: the sweep parameter that stepping motor drives probe is set: sweep limits α, scanning speed s and scanning direction;
Step 2: the relative position relation that calculates each the frame profile image in the sweep limits according to the imaging frame rate of sweep parameter and B ultrasonic instrument; This relative position relation determines that with the angle σ between each frame profile image its computing formula is: σ=s/ (B ultrasonic instrument imaging frame rate-1);
Step 3: the ultrasonic probe initial position resets: with the position at α in the sweep limits α/2 places as the initial position of probe and the reference position of three-dimensional reconstruction; If online parameter adjusting, the initial reference position that the residing position of then popping one's head in when parameter is regulated rebuilds as the three-dimensional data under new parameter is provided with of having carried out in scanning process;
Step 4: drive scanning probe, the two-dimensional ultrasound digital picture that the B ultrasonic instrument is collected constantly is sent to the PC internal memory from its digital interface through PC USB interface or network interface card interface, finishes the data acquisition in extraterrestrial target zone;
Step 5: to the selected determined spatial volume of sweep limits, PC utilizes the data of being gathered to carry out the reconstruction of 3D data volume according to each two field picture azimuth information;
Step 6: upgrade original three-dimensional data, the dynamic imaging of implementation space 3-D view with the 3D data volume after rebuilding; And go to step 4, if the three-dimensional ultrasound pattern guiding then repeats this process and selects to finish until user,, then repeat this process and after finishing set scanning times, finish automatically if be used for auxiliary diagnosis.
5, method according to claim 4, three-dimensional data are rebuild and are comprised the steps: that also (1) obtains the locus of every frame two dimensional cross-section image according to the spatial relation of probe initial position and two dimensional cross-section image; (2) set up the reconstructed coefficients table; (3) obtain the internal memory first address of storing source data; (4) determine four sampled points of 3-D view pixel arest neighbors, read its gray value; (5) search the reconstructed coefficients table, the utilization bilinear interpolation method is finished the reconstruction of 3-D view pixel gray value.
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| CN102038521B (en) * | 2011-01-14 | 2013-03-13 | 安徽皖仪科技股份有限公司 | Ultrasonic diagnosis device |
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| CN102373922B (en) * | 2011-11-03 | 2014-08-13 | 中国电子科技集团公司第二十二研究所 | Well periphery ultrasonic imaging downhole tool |
| CN102525596B (en) * | 2011-12-31 | 2014-09-17 | 重庆海扶医疗科技股份有限公司 | Ultrasound collection and treatment control system and image acquisition method thereof |
| CN102800088B (en) * | 2012-06-28 | 2014-10-29 | 华中科技大学 | Automatic dividing method of ultrasound carotid artery plaque |
| CN106264602A (en) * | 2015-06-04 | 2017-01-04 | 深圳深超换能器有限公司 | A kind of 4D linear array probe |
| CN105147319B (en) * | 2015-09-30 | 2018-05-11 | 华中科技大学 | A kind of 3-D scanning imaging device and method for nano-contrast agent evaluation |
| CN106846458A (en) * | 2016-12-15 | 2017-06-13 | 哈尔滨工业大学（威海） | Stereoscopic ultrasonic model building method and device based on 3D printing |
| CN109480900B (en) * | 2018-11-01 | 2021-08-13 | 飞依诺科技(苏州)有限公司 | 4D ultrasonic probe scanning control method and device and storage medium |
| CN109394272B (en) * | 2018-12-24 | 2021-07-20 | 彭希南 | Heart color Doppler ultrasound digital pointer type probe |
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| CN110833434A (en) * | 2019-11-22 | 2020-02-25 | 南京智能仿真技术研究院有限公司 | Three-dimensional ultrasonic imaging system based on three-dimensional profile measurement |
| CN111184535B (en) * | 2020-03-11 | 2023-07-07 | 上海科技大学 | Handheld unconstrained scanning wireless three-dimensional ultrasonic real-time voxel imaging system |
| CN113349820A (en) * | 2021-05-10 | 2021-09-07 | 西安交通大学 | Rotary scanning mechanical device, three-dimensional ultrasonic imaging system and method |
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