CN101422378B - Ultrasound diagnostic device - Google Patents
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- CN101422378B CN101422378B CN2008101812468A CN200810181246A CN101422378B CN 101422378 B CN101422378 B CN 101422378B CN 2008101812468 A CN2008101812468 A CN 2008101812468A CN 200810181246 A CN200810181246 A CN 200810181246A CN 101422378 B CN101422378 B CN 101422378B
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Abstract
Disclosed is a standard image display method for ultrasonograms and an ultrasound diagnostic device, wherein ultrasonograms (105, 106) are created by means of an ultrasonic probe (104). Volume image data is created previously by using an image diagnosis apparatus (102) and stored in a volume data storage unit (107). From the stored volume image data, a tomogram corresponding to the scan surface of the ultrasonic images is extracted, and a reference image (111) is formed from the tomogram. The ultrasonograms and the reference image (111) are displayed on the same screen (114). An area of the reference image corresponding to the viewing area of the ultrasonogram is extracted, and a reference image of the same portion as that of the ultrasonic image is displayed as a fan image.
Description
The present invention's application number that to be applicant Hitach Medical CO LTD propose on May 10th, 2004 be 2004800167907, denomination of invention divides an application for the invention application of " reference image display method of ultra sonic imaging and ultrasonic diagnostic equipment ".
Technical field
The present invention relates to the reference image display method of ultra sonic imaging and the ultrasonic diagnostic equipment of this method of use.More specifically; The present invention relates to a kind of technology; This technological selection be used to use the patient who obtains through diagnostic imaging apparatus the multi-layer image data, come real-time reconstruction with the benchmark image of ultrasonic scanning plane identical cross-section, and be used on identical screen, showing benchmark image and ultrasonoscopy.The example of this diagnostic imaging apparatus comprises ultrasonic diagnostic equipment, nuclear magnetic resonance (MRI) equipment and X ray computer tomography (X-ray CT) equipment.
Background technology
Be usually used in diagnosis as a kind of ultrasonic diagnostic equipment of diagnostic imaging apparatus, because their easy operating and can executed in real time being observed by the non-infringement of any cross section.On the other hand, the ultrasonoscopy of being caught by ultrasonic diagnostic equipment is than the tomographic image of being caught by tomography X equipment etc., and picture quality is poorer usually.Therefore, carrying out and the tomographic image (hereinafter tomographic image is called " benchmark image ") of catching when comparing, can carry out comprehensive diagnosis by other diagnostic imaging apparatus of for example tomography X equipment or MRI equipment.For example; When treating liver abscess etc. through radio-frequency ablation procedure (rediofrequency ablation) under the guiding at ultrasonoscopy, can think to diagnose in advance the locating therapy part and use its CT image to carry out the guiding of ultrasonoscopy as benchmark image through CT.
Yet,, distinguish that the incidence relation between the image is great burden for the operator when CT image or MR image during only as benchmark image.This is because the benchmark image that is provided by CT image or MR image typically is perpendicular to tomographic image body axes, cross section, and ultrasonoscopy is the tomographic image by the specified any cross section of operator.
Non-patent literature 1 has been described a kind of method of being convenient to distinguish the incidence relation between benchmark image and the ultrasonoscopy.In the method; Position sensor links to each other with ultrasonic probe; So that confirm the ultrasonic scanning plane, and rebuild with the benchmark image of ultrasonic scanning plane identical cross-section and manifest (render) on display screen from the multi-layer image data (hereinafter being called " volumetric image data (volume image data) ") of CT image or MR image.Similarly; Patent documentation 1 also proposes a kind of technology; Perhaps on display screen, manifest ultrasonoscopy wherein from the volumetric image data reconstruction of CT image or MR image and the benchmark image of ultrasonic scanning plane identical cross-section, and according to aligning or synergetic mode according to replacing switching way.
Patent documentation 2 has proposed a kind of technology, is used for the auxiliary operation of puncture needle being introduced health.That is, control the ultrasonic scanning plane, and cut out out and corresponding benchmark image in ultrasonic scanning plane and demonstration so that comprise puncture needle.In this technology, two labellings are attached to body surface and the ill scope of patient is corresponding, puncture needle is the position of inserting, and obtain the volumetric image data of benchmark image.In addition, in the introducing of puncture needle ultrasonic probe is set partly, so that fixing this position and puncture needle be with respect to the angle of probe, and the pick off that is used to detect this position and head angle links to each other with probe, so that definite ultrasonic scanning plane.In this manner, the planar coordinate system of the coordinate system of volumetric image data and ultrasonic scanning is interrelated, and cuts out out and corresponding benchmark image in ultrasonic scanning plane and demonstration.
Non-patent literature 1: be published in " Radiology " RNSA in 1996,517 pages, K.Oshio
Patent documentation 1: the open No.10-151131 of Japanese Unexamined Patent Application
Patent documentation 2: the open No.2002-112998 of Japanese Unexamined Patent Application
Summary of the invention
Yet, in the prior art,, do not consider to be used to mate the scheme of viewing area and the amplification of benchmark image and ultrasonoscopy although cut out out with the benchmark image of the corresponding cross section of ultrasonoscopy and be presented on the identical screen.For example, ultrasonoscopy is the sector image that obtains through a part of catching patient's live body, and CT image or MR image typically are the circular image that obtains through the whole health of catching the patient.Therefore, when only showing benchmark image and ultrasonoscopy according to aligned mode, existence is difficult to distinguish the problem of the incidence relation of the part that he or she hopes to observe.
In addition, for obtain one comprise target (for example ill scope), by the operator at the benchmark image ultrasonoscopy in specified zone of anticipating of taking up an official post, he or she must operate the zone that ultrasonic probe search comprises target.Yet, in the prior art, there is a problem, do not consider the scheme of the position relation of being convenient to distinguish between current ultrasonic scanning plane and the target.
Therefore, first purpose of the present invention is to be convenient to distinguish the ultrasonoscopy that is presented on the same screen and the incidence relation between the benchmark image, and benchmark image is obtained by another diagnostic device.
Second purpose of the present invention is to be convenient to distinguish by the operator in the position relation between specified target and the current ultrasonic scanning plane on any benchmark image.
In order to realize first purpose, ultrasonic diagnostic equipment of the present invention comprises: the ultrasonoscopy generator is used for according to the reflection echo signal Ultrasonic Image Construction With from ultrasonic probe output; Storage device is used to store the volumetric image data that is obtained in advance by diagnostic imaging apparatus; The benchmark image generator is used for from the volumetric image data that is stored in storage device, extracting and the corresponding tomographic image data of hyperacoustic plane of scanning motion, and rebuilds benchmark image; Control device is used to make benchmark image and ultrasonoscopy to be presented at screen; And display device, be used to show benchmark image and ultrasonoscopy.According to the relation of the position between tomographic image data and ultrasonic probe and the patient, the extraction of benchmark image generator produces benchmark image with the tomographic image data of the corresponding part of the scope of checking of ultrasonoscopy.
Therefore, according to the present invention,, possibly be easy to distinguish two incidence relations between the image because shown and the fan-shaped benchmark image of checking the corresponding same area of ultrasonoscopy of scope with sector image.In this case, preferably, show and the zone of checking the corresponding benchmark image of scope the distinguishing of the incidence relation between further convenient two images with the amplification identical with ultrasonoscopy.Also preferably, reduce the brightness of checking the part outside the scope of ultrasonoscopy, carry out demonstration.Utilize this set, possibly under the information of not losing benchmark image, carry out relatively and observe.
In addition, further be convenient to distinguish two incidence relations between the image according to analog form in the acoustic shadow (acousticshadow) that shows ultrasonoscopy on the benchmark image.In addition, can on screen, show ultrasonoscopy and benchmark image according to aligned mode, but be not limited to such configuration at this.The composograph that can on screen, show ultrasonoscopy and benchmark image.Composograph can be the image that obtains of transparent image through stack benchmark image on ultrasonoscopy.In addition, composograph can be the difference images between benchmark image and the ultrasonoscopy.
Preferably, the benchmark image generator changes the picture size of benchmark image according to the translational speed of ultrasonic probe.This makes and possibly show benchmark image according to the fast moving of ultrasonoscopy, therefore improves at degree of freedom that relatively operation is popped one's head in viewing duration.
In order to realize second purpose; Ultrasonic diagnostic equipment of the present invention comprises that the 3D body marker confirms the unit; Position relation between the target that is used for confirming the plane of scanning motion and being arranged on volumetric image data, so as to make target with respect to the direction of the plane of scanning motion and distance display on screen.
In addition, ultrasonic diagnostic equipment of the present invention also comprises: cine memory (cine-memory) is used to store the ultrasonoscopy of being rebuild by the ultrasonoscopy generator; Position sensor is used to detect the position and the inclination angle of ultrasonic probe; Plane of scanning motion coordinate is confirmed device, is used for according to the plane of scanning motion coordinate of confirming ultrasonoscopy from the output of position sensor; And plane of scanning motion coordinate system storage device, be used to store definite plane of scanning motion coordinate.The benchmark image generator reads the plane of scanning motion coordinate of ultrasonoscopy, the corresponding tomographic image data of plane of scanning motion coordinate that read and read and rebuilds benchmark image from plane of scanning motion coordinate system storage device.Image processing apparatus reads ultrasonoscopy and shows and read from cine memory the corresponding benchmark image of ultrasonoscopy, benchmark image is exported from the benchmark image generator.According to this set,, can use moving image to carry out comparison and observation because from cine memory, read successively and show ultrasonoscopy and cut out out successively and demonstration and the corresponding benchmark image of ultrasonoscopy.
Also preferably; Ultrasonic diagnosis at least also comprise be used to detect attitude transducer that patient's attitude changes and the pick off that is used to detect breathing one of at least; And having correcting device, the amount that is used for during ultrasonic diagnosis, moving according to the internal that attitude changes or breathing causes owing to the patient is corrected plane of scanning motion coordinate.Utilize this set, can correct between benchmark image coordinate system and the ultrasonoscopy coordinate system, move the skew that is produced owing to patient's breathing or attitude change the internal who causes.Therefore, can improve the degree of accuracy of the comparison and the observation of two images.
In addition or instead; Configuration can be: the plane of scanning motion that has scanned ultrasonic probe and search and freeze ultrasonoscopy and benchmark image among have of particular point after; Handle ultrasonic probe; An image that shows and freeze except the ultrasonoscopy that freezes or benchmark image and be complementary with that image that freezes; And the plane of scanning motion coordinate of that image of confirming to freeze and the coordinate difference between another image are so that can correct plane of scanning motion coordinate according to the coordinate difference of confirming.
In addition, except above-mentioned configuration, ultrasonic diagnostic equipment can comprise: position sensor is used under Basic Reference Coordinate System detecting the position and the inclination angle of ultrasonic probe; Plane of scanning motion coordinate is confirmed device, is used for the plane of scanning motion coordinate according to the ultrasonoscopy of confirming from the output of position sensor to be caught under Basic Reference Coordinate System by ultrasonic probe; Datum mark input equipment is used for the volumetric image data according to acquisition under Basic Reference Coordinate System, on the benchmark image that is presented on the screen, datum mark is set; The volume data coordinate is confirmed device; Be used for position through confirming ultrasonic probe and corresponding with datum mark and be present in, come the tomographic data coordinate of definite volumetric image data that is associated with plane of scanning motion coordinate through making the ultrasonic probe coordinate relation between the zone on the ultrasonoscopy that obtains that contacts with body surface; And volume data coordinate storage device, be used for storage and confirm the determined tomographic image data coordinates of device by the volume data coordinate.The benchmark image reconstructing device can read from volume data coordinate storage device and the coordinate of being confirmed the tomographic image data that the determined plane of scanning motion coordinate of device is associated by plane of scanning motion coordinate, and extracts benchmark image.Utilize this set, can be used for the datum mark of alignment coordinates system in the patient's body set inside.Therefore, the prior art than datum mark is set at body surface has increased the degree of freedom that datum mark is set, and has therefore further improved the degree of accuracy that compares and observe.
Description of drawings
Fig. 1 is the block diagram of basic ultrasonic image-forming system of having used the ultrasonic diagnostic equipment of one embodiment of the invention.
Fig. 2 is the block diagram of particular diagnostic imaging system of having used the ultrasonic diagnostic equipment of another embodiment of the present invention.
Fig. 3 is the flow chart of the drawing process of ultrasonoscopy and benchmark image in one embodiment of the invention.
Fig. 4 shows the view of demonstration example of ultrasonoscopy, benchmark image, composograph and the 3D body marker of the characteristics according to the present invention.
Fig. 5 shows ultrasonoscopy, benchmark image, the composograph of the characteristics according to the present invention and the view of the demonstration example of the 3D body marker that is preferred for navigating.
Fig. 6 is the block diagram of particular diagnostic imaging system of having used the ultrasonic diagnostic equipment of another embodiment of the present invention.
Fig. 7 is the block diagram of the probe that has position sensor in according to one embodiment of present invention.
Fig. 8 shows configuration and the processing procedure that respiratory capacity according to the present invention is confirmed device.
Fig. 9 is the more detailed block diagram that the plane of scanning motion coordinate among the embodiment shown in Figure 2 is confirmed unit and plane of scanning motion coordinate storage unit.
Figure 10 is the flow chart that is used for the initialization procedure of coordinate relevant treatment among the embodiment shown in Figure 6.
Figure 11 is the flow chart of the embodiment of the benchmark image display process during ultrasonic diagnosis among the embodiment shown in Figure 6.
Figure 12 shows the view of the incidence relation between volumetric image data and plane of scanning motion coordinate system.
Figure 13 is the flow chart that is used to correct an embodiment of the Basic Reference Coordinate System skew that causes owing to patient respiratory etc.
Figure 14 shows and is used for the example that the auxiliary coordinate of correcting the processing of plane of scanning motion coordinate is adjusted screen.
Figure 15 shows a kind of view that the internal who causes owing to patient respiratory moves the method for the coordinate system skew that produces that is used to correct.
The specific embodiment
Below in conjunction with accompanying drawing the preferred embodiments of the present invention are described.
(first embodiment)
Fig. 1 is the block diagram of basic ultrasonic image-forming system of having used the ultrasonic diagnostic equipment of one embodiment of the invention.As shown in the figure, diagnostic imaging system comprises according to an embodiment of the invention ultrasonic diagnostic equipment 101 and is used to obtain the medical diagnosis imaging device 102 as the volumetric image data of benchmark image.Volumetric image data (volume image data) is meant the data of the multi-layer image (multi-slice image) that obtains through the inside of catching patient body along a plurality of planes.The data of the volume image of being caught by medical diagnosis imaging device 102 are imported into ultrasonic diagnostic equipment 101.Computed tomography apparatus (X-ray CT equipment) or MR imaging apparatus (MRI equipment) can be used as medical diagnosis imaging device 102.Well-known, CT image and MR image have than ultrasonoscopy better pictures quality, and therefore are applicable to the benchmark image as the relatively poor ultrasonoscopy of picture quality.Yet, when utilizing ultrasonic diagnosis to go out the temporary transient variation in the patient tissue, can be used as the volumetric image data that benchmark image is drawn out the ultrasonoscopy that obtains in advance.
Among Fig. 1,, omitted the explanation that is generally comprised within the function in the ultrasonic diagnostic equipment 101, and the function of the formant relevant with the demonstration benchmark image of characteristics according to the present invention only has been described for fear of complexity.As shown in the figure, ultrasonic diagnostic equipment 101 can mainly be divided into part that is used for Ultrasonic Image Construction With and the part that is used to rebuild benchmark image.The former ultrasonoscopy reconstruction part has probe 104 and confirms unit 105 with ultrasonoscopy.Latter's benchmark image reconstruction part has volume data memory element 107 and confirms unit 111 with benchmark image.
Ultrasonoscopy confirms that unit 105 is provided for coming the ultrasonoscopy generator of Ultrasonic Image Construction With according to the reflection echo signal from 104 outputs of popping one's head in.Ultrasonoscopy confirms that unit 105 is applicable to that the signal that makes from position sensor 108 outputs is relevant with Ultrasonic Image Construction With.On the other hand, control unit 120 is applicable to according to confirming the plane of scanning motion coordinate of probe 104 from the signal of position sensor 108 output, and definite plane of scanning motion coordinate is outputed to benchmark image confirms unit 111.Benchmark image confirms that unit 111 provides the benchmark image generator, and this device is used for extracting and corresponding tomographic image data of importing from control unit 120 of plane of scanning motion coordinate and reconstruction benchmark image from volume data memory element 107.Therefore, confirm ultrasonoscopy that unit 105 rebuilds and confirm by benchmark image that benchmark image that unit 111 rebuilds is applicable to be displayed on the monitor 114 by ultrasonoscopy.
Particularly; The configuration baseline image is confirmed unit 111; So that its is according to from control unit 120 input and based on the plane of scanning motion coordinate of the relation of the position between probe 104 and the patient; Extract the tomographic image data with the corresponding zone of the scope of checking (view area) of ultrasonoscopy, and produce benchmark image.
According to as the embodiment of the invention of above-mentioned and configuration as shown in Figure 1, show the benchmark image and the ultrasonoscopy of catching with the fan-shaped corresponding benchmark image of ultrasonoscopy of checking scope, from same area with sector image.This makes possibly easily distinguish two incidence relations between the image.In this case, show and the zone of checking the corresponding benchmark image of scope, further be convenient to distinguish two incidence relations between the image with the amplification identical with ultrasonoscopy.In addition, be presented at the zone of checking the benchmark image outside the scope of ultrasonoscopy, allow to compare and observe and do not lose benchmark image information with the brightness that reduces.
(second embodiment)
Fig. 2 is a block diagram of having used the particular diagnostic imaging system of ultrasonic diagnostic equipment of the present invention.In Fig. 2, utilize identical reference number to represent to have the device that disposes with Fig. 1 identical functions, and omitted its explanation.In Fig. 2, plane of scanning motion coordinate confirms that unit 109 is corresponding with the configuration of the formant of control unit 120 with plane of scanning motion coordinate storage unit 110.Cine memory 106 storages are confirmed the ultrasonoscopy that unit 105 rebuilds by ultrasonoscopy.The 3D body marker confirms that unit 112 is set to confirm that with benchmark image unit 111 links to each other.Adder 113 is configured as image processing apparatus, is used for suitably merging by cine memory 106, benchmark image confirming that unit 111 and 3D body marker confirm the image that unit 112 is produced.Monitor 114 is applicable to that demonstration is confirmed image that unit 111 and 3D body marker confirm that unit 112 is produced by cine memory 106, benchmark image and by adder 113 handled images.
Volume data memory element 107 receives the volumetric image data of the benchmark image of being caught by medical diagnosis imaging device 102 through network or via portable storage (MO) medium of for example magneto-optic disk, and volumetric image data is stored in the ultrasonic diagnostic equipment 101.
According to the signal of exporting from position sensor 108 and source 116; Plane of scanning motion coordinate confirms that unit 109 obtains the position and the obliquity information of the probe 104 in Basic Reference Coordinate System, so that confirm to comprise the plane of scanning motion coordinate of ultrasonic scanning plane with respect to patient 103 position and inclination angle.Plane of scanning motion coordinate confirms that the plane of scanning motion coordinate that unit 109 is applicable to that also basis is confirmed calculates the plane of scanning motion coordinate in the benchmark image coordinate system.That is, plane of scanning motion coordinate confirms that unit 109 is applicable to the plane of scanning motion coordinate data of confirming in the volumetric image data coordinate system, and these data comprise the for example anglec of rotation of x, y and the z axle of x, y and the z coordinate data and the plane of scanning motion at a turning of the plane of scanning motion.Confirm that by the plane of scanning motion coordinate plane of scanning motion coordinate datas that unit 109 is confirmed are imported in the plane of scanning motion coordinate storage unit 110, and storing therein the plane of scanning motion coordinate of a plurality of frames.In this case, preferably the number of the frame of the plane of scanning motion coordinate of storage in fact with captured in real time and to be stored in the number of frame of the ultrasonoscopy in the cine memory 106 identical.Benchmark image confirms that unit 111 provides the benchmark image reconstructing device, and receives the benchmark image of plane of scanning motion coordinate data and reconstruction and ultrasonic scanning image identical cross-section.
Next, operate the detailed configuration of explaining according to the ultrasonic diagnostic equipment 101 of the embodiment of the invention in conjunction with it.Fig. 3 is used to manifest the ultrasonoscopy of identical cross-section and the flow chart of benchmark image.Draw to handle mainly to be divided into and be used for manifesting ultrasonoscopy and handle sequence 201 and benchmark image processing sequence 202 at the ultrasonoscopy of memory element memory scanning plane coordinates.Carry out this two sequences 201 and 202 with synchronous beginning and freezing method.
At first, when the operator begins these two sequences 201 and 202, determine whether to have imported and freeze to instruct (S1).When not having execution to freeze, ultrasonoscopy is handled sequence 201 and is driven probe 104 to patient's 103 transmissions or from patient's 103 reception ultrasound wave (S2).Ultrasonoscopy confirms that unit 105 comes Ultrasonic Image Construction With (S3) according to the reflection echo signal from 104 outputs of popping one's head in.The ultrasonoscopy of rebuilding is stored in the cine memory 106 (S4) and on monitor 114, draws out (S5).
At this moment, position sensor 108 is with hyperacoustic transmission with receive position and inclination angle (S12) that synchronously obtains probe.According to position and the obliquity information from position sensor 108 inputs, plane of scanning motion coordinate is confirmed unit 109 definite plane of scanning motion coordinates (S13).The plane of scanning motion coordinate of confirming is write plane of scanning motion coordinate storage unit 110 (S14) successively.In this case, synchronously carried out mutually ultrasonoscopy and handled the processing of step S1 in the sequence 201 to the processing of S5 and step S12 to S14.
On the other hand, handle in the sequence 202, make confirm (S21) about freezing at benchmark image.When execution is not freezed, from plane of scanning motion coordinate storage unit 110, read plane of scanning motion coordinate (S22).According to volumetric image data, benchmark image confirms that unit 111 rebuilds and the benchmark image (S25) of ultrasonoscopy identical cross-section.On monitor 114, draw out the benchmark image (S26) of reconstruction.Below with the processing of description of step S23 and S24.
Next, when operator's input was used to freeze processed instruction, in S31 and S32, according to confirming among step S1 and the S21, ultrasonoscopy was handled sequence 202 and is applicable to the execution cineloop respectively with benchmark image processing sequence 202.Through carrying out the cineloop of ultrasonoscopy with reference to being stored in ultrasound image data in the cine memory 106.Relatively, through use be stored in the plane of scanning motion coordinate storage unit 110 plane of scanning motion coordinate data and through rebuild the cineloop of carrying out benchmark image with the corresponding benchmark image of the plane of scanning motion according to volumetric image data.Synchronously be stored in the plane of scanning motion coordinate data of the ultrasound image data of storage in the cine memory 106 and storage in plane of scanning motion coordinate storage unit 110 mutually, possibly manifest ultrasonoscopy and benchmark image with identical time phase.Through carrying out the cineloop of ultrasonoscopy with reference to being stored in ultrasound image data in the cine memory 106, and through carrying out the cineloop of benchmark image with reference to being stored in plane of scanning motion coordinate data in the plane of scanning motion coordinate storage unit 110.Therefore, the memorizer of plane of scanning motion coordinate storage unit 110 a memory scanning plane coordinates data are just enough, can reduce memory capacity.Similarly, for storing moving image, only storage and the corresponding plane of scanning motion coordinate of volumetric image data make maybe be when from volumetric image data, rebuilding motion picture the playback motion picture.Therefore, can produce motion pictures files with less document size.
The pictorial display processing method of the characteristics according to the present invention is described in conjunction with Fig. 4 now.At first, according to the amplification factor (amplification) of ultrasonoscopy 302, benchmark image confirms that unit 111 amplifies or dwindles benchmark image and show with identical amplification, shown in the benchmark image 301 as shown in Figure 4.Benchmark image is confirmed that unit 111 also extracts and is checked scope 312 outside angle 311 corresponding the checking with ultrasonoscopy 302 fan-shaped and reduce the brightness with regional 312 corresponding benchmark images.As a result, with the display format identical and having shown benchmark image, thereby make and be easy to distinguish the incidence relation between ultrasonoscopy 302 and the benchmark image with ultrasonoscopy 302 identical amplifications with ultrasonoscopy 302.This set also possibly carried out the information that shows and can not lose benchmark image in scope outside the checking of ultrasonoscopy.In addition, on ultrasonoscopy 302, manifest the for example acoustic shadow 307 of bone 313 (perhaps air).Preferably, extract and 307 corresponding zones, acoustic shadow, and reduce the brightness of the scope 308 darker than this zone according to definite (for example using the CT value of CT image).Similarly, use CT value from there being the extracted region scope 310 of blood vessel, and for example should the zone with red display, for example Ultrasonic C FM (color blood-stream) image 309.This makes possibly show benchmark image 301, makes easily to compare with ultrasonoscopy 302.
On the other hand, the 3D body marker confirms that unit 112 extracts the three-dimensional visible image through using volumetric image data, the 3D body marker 304 of Fig. 4 for example, and the plane of scanning motion 314 of the transparent color of stack on the three-dimensional visible image, and show the image that produces.For the three-dimensional visible image, can use the known method of for example body development or surface development.Show the 3D body marker 304 feasible position relations that can distinguish between the patient 103 and the plane of scanning motion 314.Confirm that unit 112 is provided with can for the 3D body marker extracts by the specified area-of-interest of operator from volumetric image data and confirms distance and the function of direction from the plane of scanning motion to the area-of-interest.
Provide the adder 113 of image processing apparatus to be used for confirming the composograph 303 of benchmark image 301 and ultrasonoscopy 302.For example, adder 113 converts benchmark image 301 into the transparent color image and with on its ultrasonoscopy 302 that is added to.Perhaps, can obtain and draw difference images (difference image) between benchmark image 301 and the ultrasonoscopy 302.This image easy to use comes mutual benchmark image 301 and ultrasonoscopy 302.For example, when the ultrasonic volumetric image data that obtains in advance during as benchmark image, difference images are useful during for the temporary transient change in the biological tissue of diagnosing patients.
Therefore, as shown in Figure 4, on monitor 114, draw ultrasonoscopy 302, benchmark image 301, composograph 303 and the 3D body marker of identical cross-section.This makes the operator relatively carry out effective diagnosis in these images.
For example; Use before the treatment medical diagnosis imaging device 102 obtain the volumetric image data at area for treatment center, after treatment, make ultrasonic diagnostic equipment 101 catch the image of area for treatment and for example according to aligned mode showing benchmark image before the treatment and after treatment, showing ultrasonoscopy, be convenient to definite effect of treating.In addition, synthesize the difference images and the demonstration difference images of treating between benchmark image before and the treatment ultrasonoscopy afterwards and further be convenient to definite effect of treating.Especially, carrying out demonstration according to the degree of difference according to more color can further be convenient to check.
Through reducing picture size and changing frame rate, benchmark image confirms that unit 111 can rebuild the speed of benchmark image according to the mobile quickening of probe 104.That is, benchmark image confirms that unit 111 confirms the translational speed and the rotary speed of the plane of scanning motion according to plane of scanning motion coordinate data.When speed during greater than certain threshold value, benchmark image confirms that unit 111 reduces picture sizes and rebuilds at high speed benchmark image.That is, when moving of probe 104 was very fast, in order to draw benchmark image at high speed, the priority of frame rate was higher than picture quality, and when moving of probe 104 was slow, the priority of picture quality was higher than frame rate, rebuilds and draw benchmark image.This makes possibly draw benchmark image, makes it corresponding with the mobile ultrasonoscopy that changes according to probe 104.
Further specify pictorial display processing method with navigation feature in conjunction with Fig. 5.This ultrasonic diagnostic equipment is applicable to will the pop one's head in navigation of the target 405 that is provided with in advance on the benchmark image of 104 plane of scanning motion guiding operator in volumetric image data of permission.For example can be through on axial plane figure, sagittal figure, crown figure or three-dimensional visible image, utilizing mouse to come setting area target 405.The 3D body marker confirms that unit 112 calculates from the current plane of scanning motion to target the distance and the direction at 405 center, and shows trivector image and numerical value in the viewing area on the screen of 3D body marker 404 407.The border that in benchmark image 401 and ultrasonoscopy 402, also manifests the zone of target 405.This makes the operator can visually distinguish the distance from current ultrasonic scanning plane 314 to target 405.When target 405 gets into the plane of scanning motion 314, in ultrasonoscopy 402, also show the border of from benchmark image 401, confirming.Therefore, be easy to distinguish the incidence relation between benchmark image 401 and the ultrasonoscopy 402.
In addition, display operation person on all images at the area-of-interest (ROI) 406 that is provided with on any among ultrasonoscopy 402, benchmark image 401 and the composograph 403.This is convenient to distinguish the incidence relation of area-of-interest.
(the 3rd embodiment)
Fig. 6 shows the configuration of the diagnostic imaging system of the ultrasonic diagnostic equipment of using another embodiment of the present invention.In Fig. 6; The respiration pickup 117 that is to be provided with the respiratory capacity that is used to detect patient 103 with embodiment shown in Figure 2 different be used to detect the attitude transducer 118 that health moves, and the output that detects is imported into plane of scanning motion coordinate and confirms unit 109.Although in the embodiment of Fig. 2, omitted the processing that makes the volumetric image data coordinate system relevant, will specify this processing below with plane of scanning motion coordinate system.
In the present embodiment, shown in Fig. 7 A, position sensor 108 is attached to a probe surface of 104, so as maybe be in by source 116 formed coordinate systems the position and the inclination angle of detection probe 104, that is, and planar position of ultrasonic scanning and inclination angle.In Fig. 7 A, transducer is set on probe 104 the arcuate surface, and accurately confirms the distance between the central point 202 of central point 201 and position sensor 108 of transducer.Relation between probe 104 and the position sensor 108 is not limited to the relation shown in the figure, and can be configured to shown in Fig. 7 B.That is, be provided with can be bar shaped pointer 203 be associated with position sensor 108 separably and the end of pointer 203 204 as datum mark with respect to central point 202.Utilize this set, the probe 104 of present embodiment can also be used as pointing apparatus.
According to the mode identical with position sensor 108, attitude transducer 118 is attached to patient 103 body surface, so as in by source 116 formed Basic Reference Coordinate Systems the position and the inclination angle of measuring patient 103.The respiratory capacity of respiration pickup 117 measuring patient 103.For example, shown in Fig. 8 A, the respiration pickup 117 with the function that is similar to position sensor 108 is attached to the body surface that lies in the patient 103 on the bed 115, so that detect owing to breathe the amount of movement of the body surface that causes.Shown in Fig. 8 B, can convert the amount of movement of measuring into respiratory capacity.
Confirm unit 109 and plane of scanning motion coordinate storage unit 110 although disposed plane of scanning motion coordinate with second embodiment in fact identically, explain particularly according to characteristics of the present invention and function.Plane of scanning motion coordinate is confirmed that unit 109 has and is used for the function of correcting plane of scanning motion coordinate according to patient 103 attitude information and patient's 103 respiratory capacity.In this used expression by the probe 104 planar coordinates of ultrasonic scanning of making.As shown in Figure 9, plane of scanning motion coordinate confirms that unit 109 and plane of scanning motion coordinate storage unit 110 comprise: plane of scanning motion coordinate system memory element 211, volumetric image data coordinate storage unit 212, attitude variable quantity confirm that unit 213, internal's amount of movement confirm unit 214, correct unit 215 and correct plane of scanning motion coordinate and confirm unit 216.In the embodiment shown in Figure 2, benchmark image confirms that unit 111 receives plane of scanning motion coordinate, from volume data memory element 107, extracts and the corresponding identical cross-section view data of plane of scanning motion coordinate, and rebuilds benchmark image.Adder 113 is drawn on monitor 114 from benchmark image and is confirmed the benchmark image of unit 111 outputs and the ultrasonoscopy that reads from cine memory 106 then.Typically on identical screen, show ultrasonoscopy and benchmark image, yet perhaps, can show according to synergetic mode according to aligned mode.When showing them, hope that benchmark image is transparent according to synergetic mode.
Now, in conjunction with Figure 10,11 and 12 processing that makes the volumetric image data coordinate relevant with plane of scanning motion coordinate is described.The coordinate association process can mainly be divided into initial phase shown in Figure 10 and diagnostic phases shown in Figure 11 in the present embodiment.
At first, initial phase shown in Figure 10 is described, that is, and the processing during the imaging of volumetric image data.In step S101, shown in Figure 12 B, the x axle in the source 116 of position sensor point to bed 115 laterally, the y axle point to bed 115 vertically, and the z axle points to the vertical direction of bed 115, so that the placement source.Therefore, initial point x, y and z axle and the initial point 225 of source coordinate system that be positioned at 224 places, center in source 116 x, y and the z axle of coordinate system that be positioned at a turning of the volumetric image data shown in Figure 12 A aimed at abreast.That is, typically, obtain the volume data 221 shown in Figure 12 A through making patient 103 lie on the bed 115 and catching the tomographic image of body axes (y direction of principal axis) perpendicular to patient 103.Place source 116 with bed 115 with aiming at and make that the coordinate system of x, y and z axle and volume data 221 of Basic Reference Coordinate System in source 116 is in fact parallel to each other.
Next, in step S102, datum mark 223 is set in volume data 221.The pointing apparatus of mouse is arranged at datum mark 223 on the function screen through for example using.Follow benchmark image, the display operation screen through the volumetric image data imaging is obtained.Function screen can comprise axial plane figure, sagittal figure, crown figure or three-dimensional visible image.On arbitrary image, specify datum mark 223 to make and at body surface or at body interior the datum mark 223 in the volumetric image data to be set.
Relatively, in step S103, for example,, the datum mark 222 in the plane of scanning motion coordinate system is set through utilizing position sensor 108 positioning probes 104 in datum mark 223 corresponding positions and keeping probe 104 with volume data 221.For example; When on body surface, specifying the datum mark 222 of volume data; Probe 104 contact point 201 is positioned over the body surface position of actual patient 103, and the body surface position is corresponding with datum mark 222, thereby in plane of scanning motion coordinate system, datum mark 222 is set.In this case, because the position of the position of datum mark 222 and datum mark 223 matches each other, the coordinate system of volumetric image data and the coordinate system of the plane of scanning motion are complementary.In this case, probe 104 is as pointing apparatus.At this; In order to be beneficial to the work of placing probe in the body surface position of actual patient; The body surface position is corresponding with the position of specified datum mark in the volumetric image data, selects preferably easily to check from the outside that the particular point (for example xiphoid-process or vessel branch) that finds at body surface is as specified datum mark 223 volumetric image data.
On the other hand; When the datum mark of specifying at body interior in the volumetric image data, the operation probe, show the ultrasonoscopy in the zone that comprises Living Organism benchmark image 223 and on ultrasonoscopy through for example using the pointing apparatus of mouse to specify and Living Organism datum mark 223 corresponding zones.Then, confirm specified point and center 202 or 104 the contact point 201 of popping one's head between distance, and the coordinate of two datum marks 222 and 223 is interrelated.In this case, for identification of live organism datum mark 223 on ultrasonoscopy easily, the particular point of preferably on ultrasonoscopy, selecting to be easy to search is as specified datum mark in the above-mentioned volumetric image data.
Next, in step S104, confirm the relation data that makes plane of scanning motion coordinate system relevant with the Basic Reference Coordinate System in source 116.At first, the patient in real space 103 initial point is set to datum mark 222.The coordinate axes of plane of scanning motion coordinate system is set to parallel with the coordinate axes of source coordinate system.Then; Confirm the position (X, Y and Z) of the datum mark 222 of probe 104; This position is detected by position sensor 108, and plane of scanning motion coordinate system and source coordinate system are interrelated, and the related data that produces is stored in the plane of scanning motion coordinate system memory element 211 shown in Figure 9.In this manner, make the volumetric image data coordinate system relevant mutually via the Basic Reference Coordinate System in source 116 with plane of scanning motion coordinate system.In step S105, generation is used for making the volumetric image data coordinate system data relevant with plane of scanning motion coordinate system and it is stored in volumetric image data coordinate system memory element 212 shown in Figure 9.
Because in step S101, placed source 116, so the coordinate axes of volumetric image data coordinate system is parallel with the coordinate axes of source coordinate system.A datum mark 223 only is set in the volumetric image data coordinate system to be beneficial to and to make these two coordinate systems relevant.That is, place source 116, easily alignment coordinates system according to suitable direction according to the direction of patient's body axis.Yet, in the present invention, three datum marks 223 can be set also.In this case, can improve the degree of accuracy that makes coordinate system relevant.For example, when utilizing three datum marks to confirm coordinate system, one of three points are appointed as the initial point of coordinate system, are appointed as X axle and Y axle from initial point to the vector of remaining two points, and are designated as the X axle perpendicular to the axle of x and y axle, thereby realize aiming at.This makes and possibly make the relevant and direction in the source 116 that need not consider to place of coordinate system.Carry out above-mentioned processing through being used in the survey tool of on view data, carrying out measurement, two remaining points can automatically be set on screen.
Volumetric image data coordinate system that is produced as stated and the associated data between the plane of scanning motion coordinate system are used for confirming plane of scanning motion coordinate according to process shown in Figure 11 during ultrasonic diagnosis.Plane of scanning motion coordinate confirms that unit 109 is according to confirming plane of scanning motion coordinate (step S106) by the position and the inclination angle of the position sensor 108 detected probes 104 that are attached to probe 104.Next, benchmark image confirms that unit 111 cuts out out and the corresponding benchmark image of plane of scanning motion coordinate from volumetric image data, and makes benchmark image be presented at (step S107) on the monitor 114 via adder 113.This operator can be drawn follow with pop one's head in the benchmark image that position and the corresponding ultrasonoscopy of direction are complementary is set arbitrarily, thereby improve the degree of accuracy of diagnosis.
Next, explanation is used for the characteristics and the function of correcting the present embodiment of plane of scanning motion coordinate according to the variation of attitude etc.That is, when diagnosis is carried out since for example the variation of patient's attitude and since the internal's that causes of patient respiratory the factor that moves between the coordinate system of the volumetric image data and the plane of scanning motion, understand and squint.This skew makes can not draw the benchmark image that is complementary with the ultrasonic scanning plane.Therefore, in the present embodiment, in diagnostic phases, plane of scanning motion coordinate confirms that unit 109 is applicable to the skew of correcting in the plane of scanning motion coordinate system.
The variation of correcting patient's attitude at first is described.Can utilize attitude transducer shown in Figure 6 118 to detect patient's attitude.Therefore, confirm that by the attitude variable quantity unit 213 confirms in attitude during the initialization and the difference between the attitude between diagnostic period, and according to this difference, move and rotary scanning plane coordinates system carries out correction.
Next, explain in conjunction with Figure 13 and be used to correct because the internal that patient's breathing causes moves the coordinate system skew that is produced.The operator carries out when checking the benchmark image that manifests and ultrasonoscopy should correction processing.The operator at first notes benchmark image.For example, the operator shows the patient vessel's who comprises portal vein for example or superior mesenteric artery special cross section in operation probe 104, and carries out and freeze (step S201).Next, the operator notes ultrasonoscopy, and is carrying out and manifesting the cross section identical with the freeze frame of benchmark image when freeze frame carries out direct visual comparison and carry out and adjust (step S202).At this, the plane of scanning motion coordinate between freezing period with the phase of adjustment between plane of scanning motion coordinate between difference and internal's amount of movement corresponding.Therefore, plane of scanning motion coordinate confirm unit 109 confirm between freezing periods plane of scanning motion coordinate and the phase of adjustment between plane of scanning motion coordinate between difference (change amount) (step S203).To move and rotary scanning plane coordinates system, correct (step S204) thereby carry out with the corresponding amount of difference.Therefore, though when the mutual degree of depth of patient's respiratory depth and initial phase not simultaneously, can correct plane of scanning motion coordinate and volumetric image data coordinate system mutually relatively.
During the correction of Figure 13 is handled, show coordinate adjustment screen 231 shown in Figure 14, so that can make freezing key 232 and adjustment key 234 in on-screen options.In addition, in variable edit box 232, can also show amount of movement and the rotation amount relevant with correction.The operator can carry out correction through digital value is input in the edit box 232.
In addition, measure the respiratory capacity of input, repeat to correct in a plurality of respiratory depth by respiration pickup 17, and the relation of definite respiratory capacity and internal's amount of movement.Utilize this method, can come according to input to correct because the internal moves the skew that causes automatically from respiration pickup.
In the preceding text, freezed to have the volumetric image data benchmark image of particular point and confirmed and the corresponding ultrasonic scanning of benchmark image plane.On the contrary, this setting also can be ultrasound image plane and the next definite automatically and corresponding benchmark image in ultrasonic scanning plane of carries out image processing that freezes to have particular point.Particularly, freeze to show the ultrasonic scanning plane of patient's particular point and in the storage medium of for example cine memory 106 record ultrasonic scanning plane.Through using known method for mode matching, benchmark image is confirmed to extract in the volumetric image data of unit 111 from be stored in volume data memory element 107 and the corresponding benchmark image of the planar particular point of ultrasonic scanning that freezes.On monitor 114, show the benchmark image that extracts as matching result.In the benchmark image matching treatment, need not search for all volumetric image data.Therefore.Only be extracted in the data about the plane of scanning motion one side of seeing in the scanning direction of ultrasonic probe 104 and mate special area.Also amplification can be adjusted so that the particular point on the ultrasonic scanning plane has identical amplification with particular point on the benchmark image.In this manner, from the image with particular point, extracting benchmark image can improve and make ultrasonic scanning plane and the aligned degree of accuracy of benchmark image.
In addition, explain below in conjunction with Figure 15 and be used to correct another example that the internal who produces owing to patient respiratory moves the device of the coordinate system skew that causes.Situation shown in figure 13, the operator carries out when checking the benchmark image that manifests and ultrasonoscopy should correction processing.At first, probe 104 is placed on one's body the patient, so that show perpendicular to because breathing produces the cross section of the direction that the internal moves.Typically to produce the direction that the internal moves be the patient's body axis direction owing to breathing.Be positioned over patient's probe 104 on one's body then and on the direction that the internal moves, move, and manifest the special echotomography photographs of the blood vessel that comprises portal vein for example or superior mesenteric artery.At this moment, because the skew between volumetric image data coordinate system and the plane of scanning motion coordinate system takes place, between ultrasonoscopy and benchmark image, occur in the cross section skew in the body axes direction.In this case, freeze ultrasonoscopy and benchmark image, carry out cineloop, and the operator specifies the respective combination of benchmark image and ultrasonoscopy.For example, in example shown in Figure 15, because can confirm that they are corresponding images clearly manifesting blood vessel on the benchmark image 1 of moment t1 place demonstration and on the ultrasonoscopy 2 of moment t2 place demonstration.Show corresponding benchmark image at position display and the ultrasonoscopy 2 corresponding benchmark images 1 of moment t2 at moment t1 although from then on be appreciated that.At this moment, plane of scanning motion coordinate 1 and the difference (change amount) that is stored between the plane of scanning motion coordinate 2 in the plane of scanning motion coordinate storage unit 110 are corresponding with internal's amount of movement.Therefore, confirm the difference between plane of scanning motion coordinate 1 and the plane of scanning motion coordinate 2 and correct that plane of scanning motion coordinate might be corrected because the internal moves the coordinate system that causes squints.
Claims (6)
1. ultrasonic diagnostic equipment comprises:
The ultrasonoscopy generator is used for according to the reflection echo signal Ultrasonic Image Construction With from ultrasonic probe output;
Storage device is used to store the volumetric image data that is obtained in advance by diagnostic imaging apparatus;
The benchmark image generator is used for extracting and the corresponding tomographic image data of said hyperacoustic plane of scanning motion from the said volumetric image data that is stored in this storage device, and rebuilds benchmark image;
Control device is used to make said benchmark image and said ultrasonoscopy to be presented at screen; And
Display device is used to show said benchmark image and said ultrasonoscopy,
Also comprise:
Cine memory is used to store the said ultrasonoscopy by a plurality of frames of said ultrasonoscopy generator reconstruction;
Position sensor is used to detect the position and the inclination angle of said ultrasonic probe;
Plane of scanning motion coordinate is confirmed device, is used for according to the plane of scanning motion coordinate of confirming said ultrasonoscopy from the output of this position sensor; And
Plane of scanning motion coordinate system storage device is used for synchronously storing the plane of scanning motion coordinate that this is confirmed with said ultrasonoscopy,
Wherein, Said benchmark image generator reads the plane of scanning motion coordinate of said ultrasonoscopy from said plane of scanning motion coordinate system storage device; Corresponding said tomographic image data of the plane of scanning motion coordinate that reads and read and rebuild said benchmark image, and
Said display device is read said ultrasonoscopy and at said screen shows and this reads the ultrasonoscopy said benchmark image of identical time phase from said cine memory.
2. ultrasonic diagnostic equipment according to claim 1,
Also comprise: be used to detect at least one among attitude transducer that patient's attitude changes and the pick off that is used to detect breathing;
And comprise: correcting device, the amount that is used for during ultrasonic diagnosis, moving according to the internal that attitude changes or breathing causes owing to said patient is corrected said plane of scanning motion coordinate.
3. ultrasonic diagnostic equipment comprises:
The ultrasonoscopy generator is used for according to the reflection echo signal Ultrasonic Image Construction With from ultrasonic probe output;
Storage device is used to store the volumetric image data that is obtained in advance by diagnostic imaging apparatus;
The benchmark image generator is used for extracting and the corresponding tomographic image data of said hyperacoustic plane of scanning motion from the said volumetric image data that is stored in this storage device, and rebuilds benchmark image;
Control device is used to make said benchmark image and said ultrasonoscopy to be presented at screen; And
Display device is used to show said benchmark image and said ultrasonoscopy,
Also comprise:
Position sensor is used under Basic Reference Coordinate System detecting the position and the inclination angle of said ultrasonic probe;
Plane of scanning motion coordinate is confirmed device, is used for the plane of scanning motion coordinate according to the ultrasonoscopy of confirming from the output of this position sensor to be caught under said Basic Reference Coordinate System by said ultrasonic probe;
Datum mark input equipment is used for according to being presented on the benchmark image on the screen in the said volumetric image data that obtains under the said Basic Reference Coordinate System datum mark being set;
The volume data coordinate is confirmed device; It is corresponding and be present in through said ultrasonic probe is concerned with the coordinate that the patient's body surface contact between the zone on the ultrasonoscopy that obtains next definite said volumetric image data coordinate that is associated with said plane of scanning motion coordinate to be used for position and said and said datum mark through confirming said ultrasonic probe; And
Volume data coordinate storage device is used for storage and confirms the determined said volumetric image data coordinate of device by the volume data coordinate,
Wherein, Said benchmark image generator reads from said volume data coordinate storage device and is confirmed the said volumetric image data coordinate that the determined plane of scanning motion coordinate of device is associated by said plane of scanning motion coordinate; Extract said benchmark image, and produce said benchmark image
Said display device according to aligned mode on identical screen, show said ultrasonoscopy and with the said benchmark image of said ultrasonoscopy identical cross-section.
4. ultrasonic diagnostic equipment according to claim 3 also comprises:
Be used to detect at least one among attitude transducer that said patient's attitude changes and the pick off that is used to detect breathing;
And also comprise:
Correcting device, the amount that is used for during ultrasonic diagnosis, moving according to the internal that attitude changes or breathing causes owing to said patient is corrected said plane of scanning motion coordinate.
5. ultrasonic diagnostic equipment according to claim 3, wherein:
Can when checking the said benchmark image that manifests and said ultrasonoscopy, on said ultrasonic diagnostic equipment, carry out to correct by the operator and handle,
In said correction is handled,
Said operator notes said benchmark image, and special cross section and the execution of demonstration freezed in the said ultrasonic probe of operation;
Note said ultrasonoscopy, and manifest the cross section identical and carry out adjustment with the freeze frame of said benchmark image;
Through said plane of scanning motion coordinate confirm device confirm between freezing period plane of scanning motion coordinate and the phase of adjustment between plane of scanning motion coordinate between difference, come to move and rotary scanning plane coordinates system carries out correction.
6. ultrasonic diagnostic equipment according to claim 3, wherein:
When the coordinate system of the position of the said ultrasound probe that laterally arranges and volumetric image data coordinate system, the datum mark of being set by said datum mark input equipment is a datum mark.
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| CN101422378A CN101422378A (en) | 2009-05-06 |
| CN101422378B true CN101422378B (en) | 2012-07-18 |
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| CNB2004800167907A Expired - Lifetime CN100548223C (en) | 2003-05-08 | 2004-05-10 | Ultrasonic diagnostic equipment |
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| CN101422378A (en) | 2009-05-06 |
| CN1805711A (en) | 2006-07-19 |
| CN100548223C (en) | 2009-10-14 |
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