CN102846378A - Positioning device and method of three-dimensional imaging ultrasonic diagnosis probe - Google Patents

Abstract

The invention discloses a positioning device and method of a three-dimensional imaging ultrasonic diagnosis probe, which can position a probe to realize three-dimensional ultrasonic imaging without changing the original probe structure. The positioning device comprises an ultrasonic probe, two laser speckle optical imaging modules and a coordinate calculation module, wherein the two laser speckle optical imaging modules are used for acquiring the position information; and the coordinate calculation module is used for calculating the probe coordinates according to the displacement information acquired by the laser speckle optical imaging module. The device and method disclosed by the invention are convenient to operate and low in implementation cost, and almost do not generate space electromagnetic radiation.

Description

A kind of positioner and method of three-dimensional imaging ultrasonic diagnosis probe

Technical field

The present invention relates to diagnostic medical ultrasound system, relate in particular to localization method and the device of a kind of location of three-dimensional ultrasound pattern and the ultrasonic diagnosis probe in the reconstruction.

Background technology

Ultrasonic diagnosis is to utilize the supersonic sounding tissue whether to carry out the diagnostic imaging technology of pathological changes, has resolution high, real-time is good, the advantages such as safe noinvasive, in the clinical image diagnosis, be used widely, the innovation of ultrasonoscopy diagnostic techniques development, in recent years, 3-D supersonic imaging becomes a kind of important medical diagnosis technology gradually, obtains the ultrasound data of human tissue organ by probe, and these data are processed, obtain having more the three-dimensional ultrasound pattern of the histoorgan of sense of reality, three-D ultrasonic has demonstration directly perceived, the new function such as multi-angle observation is better than traditional two-dimensional ultrasound, and important using value is arranged.

3 d ultrasonography similarly is to be got through three-dimensional reconstruction by many groups two dimensional surface information, obtain the sequence two-dimensional image data by spacescan, measure and record the spatial relation between them, utilize these known spatial relations, use certain interpolation algorithm to recover three-dimensional spatial data.For the one dimension probe, the image space of every width of cloth two dimensional image, the location of sweeping the Check position of namely popping one's head in is the key factor that successfully realizes three-dimensional reconstruction.

No matter existing location technology is parallel sweep such as adopting the mechanical scanning mode, sector scanning or rotation sweep, and the probe of navigation system can only move along trapped orbit, and corresponding drive apparatus need be arranged, for doctor's operation detection and un-skill convenience.There is in addition a kind of probe (freehand) that is called free hands, sensor is fixed on the conventional ultrasound probe, and the supporting accurate reception detent mechanism of correct position is assisted the coordinate that calculates probe around, common localizer such as sound wave type localizer, the sound wave of emission is easily stopped.The electromagnetic positioner positioning accuracy is not high, and radio positioner can bring certain electromagnetic interference to armarium, so must go between, uses inconvenience, and advantage is low price.Initiatively launch in addition in addition the infrared ray of light beam, use and inconvenience.The localizer of above-mentioned freehand all must be installed in addition, needs complicated debugging and operation, is vulnerable to the impact of environmental condition.

Summary of the invention

The localization method and the device integrated level that the present invention seeks in order to overcome ultrasonic diagnosis probe in the existing 3-D imaging system are not high, the shortcomings such as operation inconvenience, a kind of localization method and device of three-dimensional imaging ultrasonic diagnosis probe are proposed, can be in the situation that do not change original sonde configuration, probe positions is positioned, make common one dimension probe can be used for realizing comparatively accurate 3-D supersonic imaging.

The present invention is achieved by the following technical solutions:

A kind of positioner of three-dimensional imaging ultrasonic diagnosis probe, include ultrasonic probe, also include two laser speckle optical imagery modules, computer and single-chip microcomputer with coordinate Calculation software, described laser speckle optical imagery module comprises a container, be fixed with laser diode in the container, two lens and photosensitive array, the laser that laser diode is sent shines on the working face through lens one, after be reflected through lens two and incide photosensitive array, described two laser speckle optical imagery modules are fixed on the both sides of described ultrasonic probe, the image that photosensitive array collects is inputted into described computer, go out the position coordinates of ultrasonic probe by the coordinate Calculation computed in software, the described ultrasonic probe of described Single-chip Controlling sends ultrasonic pulse and laser diode Emission Lasers, ultrasonic probe sends ultrasonic pulse, and the reception echo, obtain a ultrasonic tangent plane picture and trigger simultaneously described laser diode Emission Lasers.

A kind of localization method of three-dimensional imaging ultrasonic diagnosis probe, send ultrasonic pulse by the Single-chip Controlling ultrasonic probe, and reception echo, obtain a ultrasonic tangent plane picture and trigger simultaneously described laser diode Emission Lasers, obtain the location drawing image signal of ultrasonic probe by described laser speckle optical imagery module, this signal is imported in the computer, go out the position coordinates of ultrasonic probe by the coordinate Calculation computed in software, mobile ultrasonic probe, same method obtains the position coordinates of mobile rear ultrasonic probe, calculates the change in location of ultrasonic probe; When the angle of ultrasonic probe window major axis and scanning path changes, two distance change differences that laser speckle optical imagery module is measured, according to two laser speckle optical imagery modules measure ultrasonic probe before moving position coordinates and mobile after position coordinates, calculate the angle that ultrasonic probe changes; Obtain thus the scanning path of ultrasonic probe, with the ultrasonic echo tangent plane picture that the scanning path binding probe obtains, carry out three-dimensional reconstruction and obtain three-dimensional ultrasonoscopy.

Ultrasonic probe is swept Check at human body surface, and the luminous plane domain that illuminates of laser diode, the speckle field of formation image in photosensitive array respectively by the very short lens of focal length, and institute becomes the visual current positional information that comprised.A pixel cell on the speckle pattern around the every bit is the little image of N*N, is called the subimage of this point.Because laser speckle field is random distribution, the speckle of certain dot map picture distributes and has different statistical properties from the subimage of other points, can think micrometric displacement only to change the locus of scattering primitive and basically do not affect its scattering properties, thereby basically do not affect the statistical nature of speckle field yet, if the scattering plane produces micrometric displacement in the face like this, the subimage of every bit is also done corresponding displacement with this point on the speckle pattern, and relatively front and back two images just can calculate displacement information.

The coordinate Calculation step, referring to Fig. 3, suppose mobile before tested point 10 on the object plane after mobile to 12, then move on front the speckle pattern 10 subimage 11 just be out of shape rear speckle pattern on 12 subimage 13 corresponding, both dependencys are the highest and correlation coefficient C maximum, so the position

Change can find out by the correlation displacement search of subimage the related operation formula:

$C\left(\stackrel{\→}{\mathrm{\Γ}}\right)=\underset{S}{\∫\∫}\mathrm{\ψ}(\stackrel{\→}{\mathrm{\σ}}+\stackrel{\→}{\mathrm{\Γ}})d^2\stackrel{\→}{\mathrm{\σ}}---\left(1\right)$

$\mathrm{\ψ}(\stackrel{\→}{\mathrm{\σ}}+\stackrel{\→}{\mathrm{\Γ}})=f\left(\stackrel{\→}{\mathrm{\σ}}\right)\·g(\stackrel{\→}{\mathrm{\σ}}+\stackrel{\→}{\mathrm{\Γ}})---\left(2\right)$

In the formula, C is correlation coefficient, and S is the correlator image, and f and g are respectively mobile front and back speckle field gray-scale intensity function.Coordinate when beginning to detect is set up coordinate system as initial point, and a direction choosing image is directions X, and another vertical direction is Y-direction, can obtain in real time the position coordinates of laser speckle optical imaging system irradiation area.Consider simultaneously in the scanning process, ultrasonic probe sound window long axis direction is not always perpendicular to scanning path, may there be the variation of angle between probe major axis and the scanning path, as shown in Figure 4, use two cover laser speckle optical imaging systems to be installed on the ultrasonic probe with relatively-stationary distance, when the angle of probe sound window major axis and scanning path changes, laser speckle optical imaging system a is different with the distance change that laser speckle optical imaging system b is measured to, and the position of initial a and b is respectively (x _A1, y _A1), (x _B1, y _B1), the position after moving is respectively (x _A2, y _A2), (x _B1, y _B2), can obtain ultrasonic probe by following formula and change angle:

$\mathrm{\θ}=\arg \tan \frac{y_{a1}-y_{b1}}{x_{a1}-x_{b1}}-\arg \tan \frac{y_{a2}-y_{b2}}{x_{a2}-x_{b2}}---\left(3\right)$

Advantage of the present invention is: the present invention can in the situation that do not change original sonde configuration, to the location that probe positions is carried out, make common one dimension probe can be used for realizing comparatively accurate 3-D supersonic imaging, there is cost low, the device integrated level is high, easy to operate, without the advantage of spacing electromagnetic radiation.

Description of drawings

Fig. 1 is for using ultrasonic probe scanning mode schematic diagram of the present invention.

Fig. 2 is structural representation of the present invention.

Fig. 3, Fig. 4, Fig. 5 are the localization method schematic diagram.

Fig. 6 is operation principle block diagram of the present invention.

The specific embodiment

As shown in Figure 2, a kind of positioner of three-dimensional imaging ultrasonic diagnosis probe, include ultrasonic probe 1, also include two laser speckle optical imagery modules 2, computer 8 and single-chip microcomputer 9 with coordinate Calculation software, described laser speckle optical imagery module 2 comprises a container, be fixed with laser diode 3 in the container, two lens 4 and 6 and photosensitive array 5, the laser that laser diode 3 is sent shines on the working face 7 through lens 1, after be reflected through lens 26 and incide photosensitive array 5, described two laser speckle optical imagery modules 2 are fixed on the both sides of described ultrasonic probe 1, the image that photosensitive array 5 collects is inputted into described computer 8, go out the position coordinates of ultrasonic probe 1 by the coordinate Calculation computed in software, the described ultrasonic probe 1 of described single-chip microcomputer 9 controls sends ultrasonic pulse and laser diode 3 Emission Lasers, ultrasonic probe 1 sends ultrasonic pulse, and the reception echo, obtain a ultrasonic tangent plane picture and trigger simultaneously described laser diode 3 Emission Lasers.

A kind of localization method of three-dimensional imaging ultrasonic diagnosis probe, send ultrasonic pulse by single-chip microcomputer 9 control ultrasonic probes 1, and reception echo, obtain a ultrasonic tangent plane picture and trigger simultaneously described laser diode 3 Emission Lasers, obtain the location drawing image signal of ultrasonic probe 1 by described laser speckle optical imagery module 2, this signal is imported in the computer 8, go out the position coordinates of ultrasonic probe 1 by the coordinate Calculation computed in software, mobile ultrasonic probe 1, same method obtains the position coordinates of mobile rear ultrasonic probe 1, calculates the change in location of ultrasonic probe 1; When the angle of ultrasonic probe 1 window major axis and scanning path changes, two distance change differences that laser speckle optical imagery module 2 is measured, according to two laser speckle optical imagery modules 2 measure ultrasonic probe 1 before moving position coordinates and mobile after position coordinates, calculate the angle that ultrasonic probe 1 changes; Obtain thus the scanning path of ultrasonic probe 1, with the ultrasonic echo tangent plane picture that the scanning path binding probe obtains, carry out three-dimensional reconstruction and obtain three-dimensional ultrasonoscopy.

User control ultrasonic probe is close to human body surface and is swept Check, meanwhile, and ultrasonic probe 1 emission ultrasonic pulse, and receive echo, when receiving width of cloth two dimension section image, trigger synchronously laser speckle optical imagery module 2, read the position coordinates signal of this moment.As shown in Figure 1, receive successively several two-dimentional section images, obtain simultaneously coordinate corresponding to each section image.Fig. 2 is structural representation of the present invention.Laser speckle optical imagery module 2 is close to working face, and laser diode 3 light sources and lens 4 and 6 are fixed in the device, and light source irradiation working face 7, the speckle field of formation are through lens imaging, and image planes are positioned on the photosensitive array face.Such as Fig. 3, suppose mobile before tested point 10 on the object plane after mobile to 12, then move on front the speckle pattern 10 subimage 11 just be out of shape rear speckle pattern on 12 subimage 13 corresponding, the highest and correlation coefficient C maximum of both dependencys, so position Change can find out by the correlation displacement search of subimage, related operation utilizes formula (1), carry out (2).

Coordinate when beginning to detect is set up coordinate system as initial point, and a direction choosing image is directions X, and another vertical direction is Y-direction, can obtain in real time the position coordinates of laser speckle optical imaging system irradiation area.Consider simultaneously in the scanning process, ultrasonic probe sound window long axis direction is not always perpendicular to scanning path, and may there be the variation of angle between the scanning path, as shown in Figure 4, use two cover laser speckle optical imagery modules 2 to be installed on the ultrasonic probe 1 with relatively-stationary distance, when the angle of 1 window major axis of ultrasonic probe and scanning path changes, the laser speckle optical imagery is that module a changes different with the distance that laser speckle optical imagery module b is measured to, the position of initial a and b is respectively (xa1, ya1), (xb1, yb1), position after the movement is respectively (xa2, ya2), (xb1, yb2) obtains ultrasonic probe by above-mentioned formula (3) and changes angle θ.

Probe gathers ultrasonic echo information, obtain two-dimentional section image by digital sampling and processing, probe displacement and the angle information of the output of combining image parsing module, as initial point, choosing initial probe sound window long axis direction is Y direction, referring to Fig. 5 with the position of initial frame image, position coordinates such as adjacent two two field pictures is respectively (x1, y1) and (x2, y2), the angle of probe sound window long axis direction and coordinate axes X all is θ ₀With two two field pictures parallel insert coordinate system, if when obtaining the 3rd two field picture, probe orientation changes the θ angle, then the 3rd two field picture rotation θ angle is inserted coordinate system, by that analogy, determine two-dimensional image data sequence position spatially, utilize general image rebuilding method, with the synthetic three-dimensional data volume of the ultrasonic image sequence that gathers.

This programme is not limited to above embodiment, and ultrasonic probe can with plane or convex surface probe, also can use phased array probe.Laser speckle optical imagery module both can be fixed on the probe as adnexa, also can be made of one with probe.

Claims (2)

1. the positioner of three-dimensional imaging ultrasonic diagnosis probe, include ultrasonic probe, it is characterized in that: also include two laser speckle optical imagery modules, computer and single-chip microcomputer with coordinate Calculation software, described laser speckle optical imagery module comprises the container of a upper and lower opening, be fixed with laser diode in the container, two lens and photosensitive array, the laser that laser diode is sent shines on the working face through lens one, after be reflected through lens two and incide photosensitive array, described two laser speckle optical imagery modules are fixed on the both sides of described ultrasonic probe, the image that photosensitive array collects is inputted into described computer, go out the position coordinates of ultrasonic probe by the coordinate Calculation computed in software, the described ultrasonic probe of described Single-chip Controlling sends ultrasonic pulse and laser diode Emission Lasers, ultrasonic probe sends ultrasonic pulse, and the reception echo, obtain a ultrasonic tangent plane picture and trigger simultaneously described laser diode Emission Lasers.

2. adopt device claimed in claim 1 to carry out a kind of localization method of three-dimensional imaging ultrasonic diagnosis probe, it is characterized in that: send ultrasonic pulse by the Single-chip Controlling ultrasonic probe, and reception echo, obtain a ultrasonic tangent plane picture and trigger simultaneously described laser diode Emission Lasers, obtain the location drawing image signal of ultrasonic probe by described laser speckle optical imagery module, this signal is imported in the computer, go out the position coordinates of ultrasonic probe by the coordinate Calculation computed in software, mobile ultrasonic probe, same method obtains the position coordinates of mobile rear ultrasonic probe, calculates the change in location of ultrasonic probe; When the angle of ultrasonic probe window major axis and scanning path changes, two distance change differences that laser speckle optical imagery module is measured, according to two laser speckle optical imagery modules measure ultrasonic probe before moving position coordinates and mobile after position coordinates, calculate the angle that ultrasonic probe changes; Obtain thus the scanning path of ultrasonic probe, with the ultrasonic echo tangent plane picture that the scanning path binding probe obtains, carry out three-dimensional reconstruction and obtain three-dimensional ultrasonoscopy.

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