CN103750864B - A kind of scanning means of ultrasonic elastograph imaging and scan method thereof - Google Patents
A kind of scanning means of ultrasonic elastograph imaging and scan method thereof Download PDFInfo
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- CN103750864B CN103750864B CN201410014844.1A CN201410014844A CN103750864B CN 103750864 B CN103750864 B CN 103750864B CN 201410014844 A CN201410014844 A CN 201410014844A CN 103750864 B CN103750864 B CN 103750864B
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Abstract
The invention discloses a kind of scanning means of ultrasonic elastograph imaging with its scan method, the ultrasonic probe that this scanning means comprises computer and is connected with computer, also comprises for the support of fixing ultrasonic probe and the motion control device be connected with computer respectively and degree of depth induction apparatus; Bracket setting is on motion control device; Motion control device comprises and controls ultrasonic probe and carry out the three-dimensional motion controlling organization of three-dimensional motion and control the rotary motion controlling organization that is rotated of ultrasonic probe, and three-dimensional motion controlling organization is connected with computer respectively with rotary motion controlling organization.The present invention controls can be close to tissue surface when ultrasonic probe scans at every turn by three-dimensional motion controlling organization and rotary motion controlling organization and parallel with the normal vector of scanning element, therefore ensure that the pressure suffered by after in scanning process ultrasonic probe and each scanning element vertical with scanning tissue surface is before compression homogeneous constant.
Description
Technical field
The invention belongs to the technical field of medical 3 D ultrasonic elastograph imaging, particularly a kind of scanning means of ultrasonic elastograph imaging and scan method thereof.
Background technology
Elasticity is the important parameter characterizing a kind of material physical characteristic, wherein measure the elasticity of certain material or to carry out imaging for understanding this kind of thing qualitative attribution and structure to the distribution of its elastic characteristic be a kind of considerable means, wherein the diagnosis of tissue elasticity to disease has important reference value.Ultrasonic elastograph imaging can provide the closely-related tissue elasticity information with the pathological state of tissue abnormalities, ultrasonic elastograph imaging obtains the waveform of ultrasound echo signal under the different pressure of same position in region of interest twice by probe, and utilize twice return signal to carry out related operation, obtain corresponding tissue elasticity information.Wherein ultrasonic probe directly can have influence on the quality of elastogram to the pressure size of tissue scanning, translational speed and scanning direction etc.
In existing Ultrasonic Elasticity Imaging, conventional scan method mainly contains: free arm scanning, two-dimensional array scanning probe and mechanical location scanning; Wherein free arm scanning system, need the electromagnetic position sensor location of 6 degree of freedom, complicated operation, is very easily subject to the interference such as electromagnetism, ferromagnetic material simultaneously.Based on the scan mode of two-dimensional array probe due to the array element enormous amount of two-dimensional array, each array element will configure corresponding acquisition channel, therefore higher to the equipment requirements of technological means and employing.When scanning based on these two kinds of scan modes, pop one's head in the pressure organized by scanning very difficult maintenance homogeneous constant, speed and the direction of probe movement also can change, and therefore have a great impact the elastic image generated.Traditional mechanical location scanning mode, although the constant of translational speed and direction of popping one's head in can be ensured, but due to the case depth information of detected tissue accurately cannot be obtained in advance, thus there will be in scanning process and do not reach tissue or to the excessive two kinds of situations of organizational stress, namely still cannot ensure to pop one's head in constant by the pressure uniform of scanning tissue.
Summary of the invention
The object of the invention is to overcome the shortcoming of prior art and deficiency, a kind of scanning means to the uniform ultrasonic elastograph imaging of scanning group active pressure is provided.
Another object of the present invention is to the scan method of the scanning means that above-mentioned ultrasonic elastograph imaging is provided.
The first object of the present invention is achieved through the following technical solutions: a kind of scanning means of ultrasonic elastograph imaging, the ultrasonic probe comprising computer and be connected with computer, also comprises for the support of fixing ultrasonic probe and the motion control device be connected with computer respectively and degree of depth induction apparatus; Described Bracket setting is on motion control device; Described motion control device comprises and controls ultrasonic probe and carry out the three-dimensional motion controlling organization of three-dimensional motion and control the rotary motion controlling organization that is rotated of ultrasonic probe, and described three-dimensional motion controlling organization is connected with computer respectively with rotary motion controlling organization.
Preferably, described three-dimensional motion controlling organization comprises first, second, and third motor, motor driver and motor control module, described first, second, and third motor is connected with circuit for controlling motor plate respectively by motor driver, described circuit for controlling motor plate is connected with computer, described first, second, and third motor is connected to kinematic axis, described three kinematic axiss are the three-dimensional arrangement of X, Y and Z axis respectively, wherein X-direction represents left and right direction, Y direction represents front and rear direction, Z-direction represent upper and lower to; Described Bracket setting is on the kinematic axis of Z-direction; Described first, second, and third motor controls support respectively by the kinematic axis on it and moves on X, Y and Z-direction;
Rotary motion controlling organization comprises the 4th motor, the 5th motor, the 6th motor, motor driver and motor control module, 4th motor, the 5th motor are connected with computer with motor control module by motor driver respectively successively with the 6th motor, 4th motor is connected with the kinematic axis of described Z-direction, for controlling the rotation of Z-direction kinematic axis; 5th motor is connected with the kinematic axis of described X-direction, for controlling the rotation of X-direction kinematic axis; 6th motor is connected with the kinematic axis of described Y direction, for controlling the rotation of Y direction kinematic axis.
Preferably, described degree of depth induction apparatus is installed on the top of scanning tissue, and its investigative range is 10cm ~ 400cm.
The second object of the present invention is achieved through the following technical solutions:
A scan method for the scanning means of ultrasonic elastograph imaging, comprises the following steps:
(1) utilize degree of depth induction apparatus to obtain the surface depth image information of scanning tissue, according to surface depth image information, reconstruct the line drawing of scanning tissue surface;
(2) track while scan is formulated according to the line drawing of scanning tissue surface; Then according to the amount of curvature of scanning tissue surface, calculate the normal vector of each scanning element in track while scan, and preserve in a computer;
(3) starting point that ultrasonic probe moves to track while scan is controlled;
(4) by computer inquery to the positional information of ultrasonic probe place current scan point and normal information; The ultrasonic probe that described three-dimensional motion controlling organization controls on support according to the positional information of current scan point moves up in three-dimensional each side, and by rotary motion controlling organization control ultrasonic probe rotate respective angles respectively around three-dimensional all directions, until ultrasonic probe against by scanning tissue surface and parallel with the normal vector of current scan point;
(5) ultrasound echo signal of the current residing scanning element of ultrasonic probe is gathered, then control ultrasonic probe by three-dimensional motion controlling organization to point to the direction of tissue surface along this scanning element normal vector and to move d distance, again gather ultrasound echo signal, the ultrasound echo signal positional information of this scanning element and twice collected carries out being stored in computer; Three-dimensional motion controlling organization controls ultrasonic probe and to move along the direction of this scanning element normal vector tissue surface dorsad d distance, and ultrasonic probe returns on the original position on current residing scanning element; Judge that whether this scanning element is last scanning element in track while scan simultaneously;
If so, the end of scan of then three-D ultrasonic elastogram;
If not, then step (6) is performed;
(6) next scanning element and the distance of current scan point in three-dimensional all directions and the angular deviation in three-dimensional all directions in track while scan is calculated, control ultrasonic probe by three-dimensional motion controlling organization move respective distance simultaneously in all directions of three-dimensional, ultrasonic probe to be controlled by rotary motion controlling organization simultaneously and carry out corresponding angle rotation respectively around all directions of three-dimensional, arrive the next point that will scan, ultrasonic probe is against by the surface of scanning tissue and parallel with the normal vector of its place scanning element; Then step (5) is got back to.
Preferably, the line drawing of scanning tissue surface is rebuild in described step (1) by multiframe surface depth image information.
Preferably, the distance d that in described step (5), three-dimensional motion controlling organization control ultrasonic probe moves along the direction that this scanning element normal vector points to tissue surface is 1 ~ 3mm.
Preferably, the scanning speed of ultrasonic probe, sweep limits, three-dimensional motion controlling organization and the step distance of rotary motion controlling organization and the anglec of rotation of ultrasonic probe has also been formulated in described step (2).
The present invention has following advantage and effect relative to prior art:
Scanning means of the present invention controls can be close to tissue surface when ultrasonic probe scans at every turn by three-dimensional motion controlling organization and rotary motion controlling organization and parallel with the normal vector of scanning element, to ensure that in scanning process ultrasonic probe is vertical with scanning tissue surface, can the ultrasound echo signal of accurate response tissue elasticity information more to obtain; Organize the distance carrying out compressing to be fixed value for scanning in the present invention in addition at every turn, ensure that the pressure suffered by after each scanning element is before compression homogeneous constant.The mechanical location scanning mode in prior art that overcomes is difficult to accomplish that the ultrasonic elastic image obtained is more accurate, clear with uniform pressure to organizing the defect scanned, and more vivo can show, locates focus and differentiate focus character.
Accompanying drawing explanation
Fig. 1 is the composition frame chart of scanning means of the present invention.
Fig. 2 is the structural representation of each several part in scanning means of the present invention.
Fig. 3 is the flow chart of scan method of the present invention.
Fig. 4 a is the line drawing that scan method of the present invention is rebuild.
Fig. 4 b be scan method of the present invention rebuild line drawing on track while scan and normal vector schematic diagram.
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited thereto.
Embodiment
As shown in Figure 1, present embodiment discloses a kind of scanning means of ultrasonic elastograph imaging, comprise computer 1, the ultrasonic probe 3 be connected with computer 1, for the support of fixing ultrasonic probe and the motion control device be connected with computer 1 respectively and degree of depth induction apparatus 2; Bracket setting is on motion control device; Motion control device comprises and controls ultrasonic probe and carry out the three-dimensional motion controlling organization 4 of three-dimensional motion and control the rotary motion controlling organization 5 that ultrasonic probe is rotated, and described three-dimensional motion controlling organization 4 is connected with computer respectively with rotary motion controlling organization 5.
In the present embodiment, three-dimensional motion controlling organization comprises first, second, and third motor, motor driver and motor control module, first, second, and third motor is connected with circuit for controlling motor plate respectively by motor driver, circuit for controlling motor plate is connected with computer, described first, second, and third motor is connected to kinematic axis, three kinematic axiss are the three-dimensional arrangement of X, Y and Z axis respectively, wherein X-direction represents left and right direction, Y direction represents front and rear direction, Z-direction represent upper and lower to; Described Bracket setting is on the kinematic axis of Z-direction; First, second, and third motor controls support respectively by the kinematic axis on it and moves on X, Y and Z-direction;
Rotary motion controlling organization comprises the 4th motor, the 5th motor, the 6th motor, motor driver and motor control module, 4th motor, the 5th motor are connected with computer with motor control module by motor driver respectively successively with the 6th motor, 4th motor is connected with the kinematic axis of described Z-direction, for controlling the rotation of Z-direction kinematic axis, rotate around Z axis to make the ultrasonic probe on support; 5th motor is connected with the kinematic axis of described X-direction, for controlling the rotation of X-direction kinematic axis, rotates around X-axis to make the ultrasonic probe on support; 6th motor is connected with the kinematic axis of described Y direction, for controlling the rotation of Y direction kinematic axis, rotates around Y-axis to make the ultrasonic probe on support.
As shown in Figure 2, degree of depth induction apparatus is installed on the top of scanning tissue, and its investigative range is 10cm ~ 400cm.Can be obtained the distance of photographic head on each point to camera head of detected person surface by degree of depth induction apparatus, the precision of this distance is Centimeter Level, grade or higher.
As shown in Figure 3, the present embodiment also discloses a kind of scan method of the scanning means based on above-mentioned ultrasonic elastograph imaging, comprises the following steps:
(1) utilize degree of depth induction apparatus to obtain the multiframe surface depth image information of scanning tissue, according to multiframe surface depth image information, reconstruct the line drawing of scanning tissue surface as shown in fig. 4 a; Wherein ha, hb and hc refer to the distance of scanning tissue distance degree of depth induction apparatus respectively;
(2) track while scan is formulated according to the line drawing of scanning tissue surface, the track while scan wherein formulated in the present embodiment comprises by the whole region of scanning tissue as shown in Figure 4 b, according to the amount of curvature of scanning tissue surface, calculate the normal vector of each scanning element as shown in Figure 4 b in this track while scan, and preserve in a computer;
Also formulated the rotation parameter etc. of the sweep parameters such as the step distance of the scanning speed of ultrasonic probe, sweep limits, three-dimensional motion controlling organization and rotary motion controlling organization and ultrasonic probe in the present embodiment, wherein rotation parameter comprises the angle that ultrasonic probe rotates around X, Y, Z axis simultaneously;
(3) starting point that ultrasonic probe moves to track while scan is controlled;
(4) by computer inquery to the positional information of ultrasonic probe place current scan point and normal information; The ultrasonic probe that three-dimensional motion controlling organization controls on support according to the positional information of current scan point moves on three-dimensional, and control ultrasonic probe by rotary motion controlling organization and on X, Y, Z axis direction, rotate respective angles according to the rotation parameter of setting in step (2) respectively, until ultrasonic probe is close to by the surface of scanning tissue and parallel with the side vector of current scan point;
(5) scanning speed formulated according to step (2) at scanning tissue of ultrasonic probe and sweep limits scan the point residing for current, and gather the ultrasonic RF echo-signal of the current residing scanning element of ultrasonic probe, then control ultrasonic probe by three-dimensional motion controlling organization to point to the direction of tissue surface along this scanning element normal vector and to move d distance, again gather ultrasonic RF echo-signal, the ultrasonic RF signal positional information of this scanning element and twice collected carries out being stored in computer; Three-dimensional motion controlling organization controls ultrasonic probe and to move along the direction of this scanning element normal vector tissue surface dorsad d distance, and ultrasonic probe returns on the original position on current residing scanning element; Judge that whether this scanning element is last scanning element in track while scan simultaneously;
If so, the end of scan of then three-D ultrasonic elastogram;
If not, then step (6) is performed;
(6) next scanning element and current scan point is calculated in track while scan at the X of three-dimensional, distance on Y and Z axis three directions and at X, angular deviation on Y and Z axis three directions, ultrasonic probe is controlled at X by three-dimensional motion controlling organization, Y and Z axis correspondence direction move respective distance simultaneously, the X of ultrasonic probe around three-dimensional to be controlled by rotary motion controlling organization simultaneously, corresponding angle rotation is carried out in Y and Z axis three directions respectively, arrive the next point that will scan, make ultrasonic probe be close to by scanning tissue surface and parallel with the normal vector of ultrasonic probe place scanning element, then get back to step (5), obtain two ultrasonic RF signals and the positional information of all scanning elements in track while scan.
The distance d that ultrasonic probe moves along the direction that this scanning element normal vector points to tissue surface in the present embodiment step (5) is 2mm, the distance of certain d also can be other values, as other numerals in 1 ~ 3mm, when the value of d specifically uses according to reality, the soft durometer of ultrasonic probe type and tissue and thickness are selected.
The position and each scanning element twice ultrasonic RF echo-signal at various pressures that scan each scanning element in tissue is obtained respectively by the above-mentioned scan method of the present embodiment, then twice return signal is utilized to carry out related operation, obtain corresponding tissue elasticity dependent variable, thus obtain final elastogram.
Above-described embodiment is the present invention's preferably embodiment; but embodiments of the present invention are not restricted to the described embodiments; change, the modification done under other any does not deviate from spirit of the present invention and principle, substitute, combine, simplify; all should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (6)
1. a scanning means for ultrasonic elastograph imaging, the ultrasonic probe comprising computer and be connected with computer, is characterized in that, also comprises for the support of fixing ultrasonic probe and the motion control device be connected with computer respectively and degree of depth induction apparatus; Described Bracket setting is on motion control device; Described motion control device comprises and controls ultrasonic probe and carry out the three-dimensional motion controlling organization of three-dimensional motion and control the rotary motion controlling organization that is rotated of ultrasonic probe, and described three-dimensional motion controlling organization is connected with computer respectively with rotary motion controlling organization; Described three-dimensional motion controlling organization comprises first, second, and third motor, motor driver and circuit for controlling motor plate, described first, second, and third motor is connected with circuit for controlling motor plate respectively by motor driver, described circuit for controlling motor plate is connected with computer, described first, second, and third motor is connected to a kinematic axis, three kinematic axiss are the three-dimensional arrangement of X, Y and Z axis respectively, wherein X-direction represents left and right direction, Y direction represents front and rear direction, Z-direction represent upper and lower to; Described Bracket setting is on the kinematic axis of Z-direction; Described first, second, and third motor controls support respectively by the kinematic axis on it and moves on X, Y and Z-direction;
Rotary motion controlling organization comprises the 4th motor, the 5th motor, the 6th motor, motor driver and motor control module, 4th motor, the 5th motor are connected with computer with motor control module by motor driver respectively successively with the 6th motor, 4th motor is connected with the kinematic axis of described Z-direction, for controlling the rotation of Z-direction kinematic axis; 5th motor is connected with the kinematic axis of described X-direction, for controlling the rotation of X-direction kinematic axis; 6th motor is connected with the kinematic axis of described Y direction, for controlling the rotation of Y direction kinematic axis.
2. the scanning means of ultrasonic elastograph imaging according to claim 1, is characterized in that, described degree of depth induction apparatus is installed on the top of scanning tissue, and its investigative range is 10cm ~ 400cm.
3. based on a scan method for the scanning means of the ultrasonic elastograph imaging according to any one of the claims 1 to 2, it is characterized in that, comprise the following steps:
(1) utilize degree of depth induction apparatus to obtain the surface depth image information of scanning tissue, according to surface depth image information, reconstruct the line drawing of scanning tissue surface;
(2) track while scan is formulated according to the line drawing of scanning tissue surface; Then according to the amount of curvature of scanning tissue surface, calculate the normal vector of each scanning element in track while scan, and preserve in a computer;
(3) starting point that ultrasonic probe moves to track while scan is controlled;
(4) by computer inquery to the positional information of ultrasonic probe place current scan point and normal information; The ultrasonic probe that described three-dimensional motion controlling organization controls on support according to the positional information of current scan point moves up in three-dimensional each side, and by rotary motion controlling organization control ultrasonic probe rotate respective angles respectively around three-dimensional all directions, until ultrasonic probe against by scanning tissue surface and parallel with the normal vector of current scan point;
(5) ultrasound echo signal of the current residing scanning element of ultrasonic probe is gathered, then control ultrasonic probe by three-dimensional motion controlling organization to point to the direction of tissue surface along this scanning element normal vector and to move d distance, again gather ultrasound echo signal, the ultrasound echo signal positional information of this scanning element and twice collected carries out being stored in computer; Three-dimensional motion controlling organization controls ultrasonic probe and to move along the direction of this scanning element normal vector tissue surface dorsad d distance, and ultrasonic probe returns on the original position on current residing scanning element; Judge that whether this scanning element is last scanning element in track while scan simultaneously;
If so, the end of scan of then three-D ultrasonic elastogram;
If not, then step (6) is performed;
(6) next scanning element and the distance of current scan point in three-dimensional all directions and the angular deviation in three-dimensional all directions in track while scan is calculated, control ultrasonic probe by three-dimensional motion controlling organization move respective distance simultaneously in all directions of three-dimensional, ultrasonic probe to be controlled by rotary motion controlling organization simultaneously and carry out corresponding angle rotation respectively around all directions of three-dimensional, arrive the next point that will scan, ultrasonic probe is against by the surface of scanning tissue and parallel with the normal vector of its place scanning element; Then step (5) is got back to.
4. the scan method of the scanning means of ultrasonic elastograph imaging according to claim 3, is characterized in that, is rebuild the line drawing of scanning tissue surface in described step (1) by multiframe surface depth image information.
5. the scan method of the scanning means of ultrasonic elastograph imaging according to claim 3, it is characterized in that, the distance d that in described step (5), three-dimensional motion controlling organization control ultrasonic probe moves along the direction that this scanning element normal vector points to tissue surface is 1 ~ 3mm.
6. the scan method of the scanning means of ultrasonic elastograph imaging according to claim 3, it is characterized in that, in described step (2), also formulated the scanning speed of ultrasonic probe, sweep limits, three-dimensional motion controlling organization and the step distance of rotary motion controlling organization and the anglec of rotation of ultrasonic probe.
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