CN104095653B - A kind of freedom-arm, three-D ultrasonic image-forming system and formation method - Google Patents
A kind of freedom-arm, three-D ultrasonic image-forming system and formation method Download PDFInfo
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- CN104095653B CN104095653B CN201410358227.3A CN201410358227A CN104095653B CN 104095653 B CN104095653 B CN 104095653B CN 201410358227 A CN201410358227 A CN 201410358227A CN 104095653 B CN104095653 B CN 104095653B
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Abstract
The present invention relates to a kind of freedom-arm, three-D ultrasonic image-forming system and formation method, the B ultrasonic imaging point of 6 axle inertial sensor central planes and probe distal end B ultrasonic fan sweeping mechanism is in same plane, and 6 axle inertial sensor centers and B ultrasonic fan sweeping mechanism B ultrasonic imaging point are all on Ultrasonic-B probe central axis, and mutual distance is constant；With 6 axle inertial sensor central planes above, the outer position of Ultrasonic-B probe is provided with groove；Groove is provided with trigger key；6 axle inertial sensors, B ultrasonic fan sweeping mechanism and trigger key are connected with microprocessor by long cable, and microprocessor connects host computer by USB interface, sets up rational scan model and acquisition system, can detection probe movable information.All devices are all placed in 2D ultrasonic probe, contactless with the external world, decrease the interference that operation is brought by environment, improve precision and stability；Employing multi-threaded parallel operates, and accelerates arithmetic speed, and provides the three-dimensional reconstruction effect of real-time update obtaining the new B of every width.
Description
Technical field
The present invention relates to a kind of 3-D imaging system, particularly to a kind of freedom-arm, three-D ultrasonic image-forming system based on inertial sensor and formation method.
Background technology
Medical ultrasound diagnosis is one of important component part of modern medical imaging, suffers from great contribution in the diagnosis of a lot of tissues.Tradition 2D ultrasonic shown be that examiner needs to rebuild in brain the three dimensional structure of tissue according to a series of 2D images from scanning probe plane acquired information.This is a time-consuming and difficult process, and is susceptible to mistake.Just because of this, the demand that 3D is ultrasonic is quickly increased by clinic.Common 3D ultrasound scan method has following several: mechanical mechanism controls 2D ultrasonic probe, the 3D ultrasonic probe of built-in controlling organization and free arm 3D scanheads.In above-mentioned 3D scan mode, free arm scan mode can use ready-made 2D to pop one's head in, and scanning scope is big, has higher cost performance on cost and ease of use, extensively welcomes so obtaining.But the cost of free arm scanning is also expected to further reduction, and occupation mode is easy further.
Inertial sensor utilizes effect of inertia to obtain the movable information of object, inertial sensor and probe is fixed together, and sets up rational scan model and acquisition system, gets final product detection probe movable information without complicated tracking equipment.Cost performance for improving free arm scan mode further provides possibility.
Summary of the invention
The present invention be directed to the scanning of existing free arm to be widely used, the problem that cost performance need to promote further, it is proposed that a kind of freedom-arm, three-D ultrasonic image-forming system and formation method, cost, operation can be reduced further easier.
The technical scheme is that a kind of freedom-arm, three-D ultrasonic image-forming system, system includes Ultrasonic-B probe, microprocessor and host computer, and Ultrasonic-B probe includes the trigger key of outside, outside groove, the long cable of afterbody, 6 internal axle inertial sensors, internal traditional B ultrasonic fan sweeping mechanism and internal stent；6 axle inertial sensors are fixed on the support within Ultrasonic-B probe, the B ultrasonic imaging point of 6 axle inertial sensor central planes and probe distal end B ultrasonic fan sweeping mechanism is in same plane, and 6 axle inertial sensor centers with B ultrasonic fan sweeping mechanism B ultrasonic imaging point all on Ultrasonic-B probe central axis；With 6 axle inertial sensor central planes above, the outer position of Ultrasonic-B probe is provided with groove, groove and 6 axis-rotating type sensor parallel；Groove is provided with trigger key；6 axle inertial sensors, B ultrasonic fan sweeping mechanism and trigger key are connected with microprocessor by long cable, and microprocessor connects host computer by USB interface.
I in described microprocessor2C module and 6 axle inertial sensor intercommunication, configure sensor and the reading of data；The fan sweeping of microprocessor drives module and ultrasonic signal transmitting-receiving Tx/Rx module output drive signal respectively to motor and excitation ultrasonic transducer in B ultrasonic fan sweeping mechanism；Trigger key triggers signal input microprocessor.
The formation method of a kind of freedom-arm, three-D ultrasonic image-forming system, specifically includes following steps:
1) inertial sensor coordinate system S is set up for initial point at central plane with 6 axle inertial sensor centers；With B ultrasonic imaging point for initial point, set up B ultrasonic imaging coordinate system I at 6 axle inertial sensor central planes；Inertial sensor coordinate system S center and B ultrasonic imaging coordinate system I center distance L；
2) when user presses the trigger key of groove, microprocessor receives 6 axle inertial sensors and B ultrasonic fan sweeping mechanism position and image-forming information, and microprocessor mates B ultrasonic two-dimensional imaging and its positional information, and is transferred in host computer by USB port；
3) initialize: after receiving the described 3D triggering signal scanning trigger key, set up world coordinate system R with the B ultrasonic two dimensional image that the first width receives for benchmark, open up memory space；
4) obtaining follow-up B ultrasonic two dimensional image and the relative position relation of the first width B ultrasonic image, distribute a thread for each pixel in described B ultrasonic two dimensional image, and carry out the ordinate transform of pixel, the ordinate transform formula comprised in thread is as follows:
pR=pITS←ITR←S
Wherein pI=(x ', y ', 0,1) represents the coordinate of a certain pixel in arbitrary 2D imaging plane (x ', y '), pR=(x, y, z, 1) represents this pixel respective coordinates in described world coordinate system R；
TS←IRepresenting the transformed representation of described 2D imaging coordinate system I to 6 axle inertial sensor coordinate system S, it embodies form and is:
TR←SRepresenting the transformed representation of 6 axle inertial sensor coordinate system S to described world coordinate system R, it embodies form and is:
In formula,X,Y,Z is probe x along world coordinate system R, y, the displacement of z-axis translation,The angular displacement that respectively coordinate system x, y, z in world coordinate system R tri-axle turns over counterclockwise；
5) pixel after ordinate transform is stored into the memory space of the world coordinate system R opened up in step 3), and carries out pixel interpolation；Pixel in memory space is carried out three-dimensional surface rebuilding, and carries out light projection process；
6) gather successive image constantly, repeat step 3) to step 5), it is achieved 3D imaging constantly.
The beneficial effects of the present invention is: one freedom-arm, three-D ultrasonic image-forming system of the present invention and formation method, provide the free arm 3D ultrasound probe of an inertial sensor tracing type, have the advantage of price compared with the track sensor of existing optical principle and electromagnetic principles；The invention provides the free arm 3D ultrasound probe of a built-in sensor, all the sensors and imaging device are all placed in 2D ultrasonic probe, are connected with microprocessor by cable.Owing to there is no large-scale track working sensor station, greatly reduce volume and the price of imaging system, and improve motility when user operates and convenience；The free arm 3D ultrasound probe that inertial sensor provided by the invention is built-in, all devices are all placed in 2D ultrasonic probe, contactless with the external world, decrease the interference that operation is brought by environment, improve precision and stability；Trigger key provided by the invention, it is allowed to operator switches that 2D is ultrasonic and 3D ultrasound mode flexibly, more meets practice demand；Three-dimensional reconstruction algorithm unit provided by the invention, adopts multi-threaded parallel operation, is greatly accelerated arithmetic speed, and updates voxel information after obtaining the B ultrasonic image that every width is new, it is provided that the three-dimensional reconstruction effect of real-time update.
Accompanying drawing explanation
Fig. 1 is freedom-arm, three-D ultrasonic image-forming system structural representation of the present invention；
Fig. 2 is Ultrasonic-B probe structural representation of the present invention；
Fig. 3 is three-dimensional reconstruction algorithm unit schematic diagram of the present invention.
Detailed description of the invention
Freedom-arm, three-D ultrasonic image-forming system structural representation as shown in Figure 1, system includes Ultrasonic-B probe 1, microprocessor 2 and host computer 3.
Ultrasonic-B probe structural representation as shown in Figure 2, Ultrasonic-B probe 1, it is integrated with 6 axle inertial sensors 11 of inside, outside trigger key 12, traditional B ultrasonic fan sweeping mechanism 13, internal support 14, groove 15, the long cable 16 of afterbody.Wherein 6 axle inertial sensors 11 are fixed on the support 14 within Ultrasonic-B probe, the B ultrasonic imaging point that 6 axle inertial sensor 11 central planes determine with probe distal end B ultrasonic fan sweeping mechanism 13 is in same plane, and 6 axle inertial sensor 11 centers with the B ultrasonic fan sweeping super imaging point of mechanism 13B all on Ultrasonic-B probe central axis.Inertial sensor coordinate system S is set up for initial point at central plane with 6 axle inertial sensor 11 centers；With B ultrasonic imaging point for initial point, set up B ultrasonic imaging coordinate system I at 6 axle inertial sensor 11 central planes；Inertial sensor coordinate system S center and B ultrasonic imaging coordinate system I center distance L.With 6 axle inertial sensor 11 central planes above, the outer position of Ultrasonic-B probe 1 is provided with groove 15, for user hold probe, the hand-holdable probe of user arbitrarily translates or rotates.Groove 15 place is provided with the trigger key 12 triggering 3D scanning imagery, for user, 2D ultrasonic scanning pattern is switched to 3D ultrasound imaging mode.All lead by long cable 16 and microprocessor 2 UNICOM.Groove 15 is strict parallel with 6 axis-rotating type sensors 11, make the position of user hand hold transducer and 6 axle shaft core positions of 6 axle sensors 11, the variable quantity of the probe attitude that user causes in this position translation or rotating detector, can directly read out from 6 axle sensors 11, thus decreasing unnecessary compensation process.Operating in this way, the transformation relation that B ultrasonic imaging point is transformed in 6 axle sensor coordinate systems is fixed, for adding the distance L between imaging coordinate system I center and 6 axle inertial sensor coordinate system S centers in Y direction.
As depicted in figs. 1 and 2, microprocessor 2 is by long cable 16 and 6 axle inertial sensors 11 in Ultrasonic-B probe, and trigger key 12 is connected with B ultrasonic fan sweeping mechanism 13.I in microprocessor 22C module 21 is set up with 6 axle inertial sensors 11 and is communicated, and sensor is configured and the reading of data.The fan sweeping of microprocessor 2 drives module 22 and ultrasonic signal transmitting-receiving Tx/Rx module 23 drive in B ultrasonic fan sweeping mechanism 13 motor respectively and encourage ultrasonic transducer.And obtain B ultrasonic two-dimensional imaging by two dimensional image processing unit.Microprocessor 2 receives trigger key 12 and triggers signal, trigger key 12 triggers 3D ultrasonic scanning after pressing, namely microprocessor starts to mate B ultrasonic two dimensional image and its positional information, and is transferred in host computer 3 by USB interface by the B ultrasonic two dimensional image that have matched positional information.Described three-dimensional reconstruction algorithm unit is according to described B ultrasonic image and described positional information real-time reconstruction and shows three-dimensional ultrasound pattern.
Three-dimensional reconstruction algorithm unit schematic diagram as shown in Figure 3, inertial sensor coordinate system S and B ultrasonic imaging coordinate system I are in same plane, inertial sensor coordinate system S center and B ultrasonic imaging coordinate system I center distance L.User hold with inertial sensor coordinate system S central horizontal position above groove 15, can arbitrarily rotate or translate Ultrasonic-B probe 1.When user presses the trigger key 12 at low groove 15 place, trigger B ultrasonic two-dimensional imaging mode and change to 3D ultrasound imaging mode.Microprocessor 2 mates B ultrasonic two-dimensional imaging and its positional information, and is transferred in host computer 3 by USB port.And enter three-dimensional reconstruction algorithm unit, its step is as follows:
S1, initialization: after receiving the described 3D triggering signal scanning trigger key 12, set up world coordinate system R with the B ultrasonic two dimensional image that the first width receives for benchmark, open up memory space 31.
S2, obtaining follow-up B ultrasonic two dimensional image and the relative position relation of the first width B ultrasonic image, distribute a thread for each pixel in described B ultrasonic two dimensional image, and carry out the ordinate transform of pixel, the ordinate transform formula comprised in thread is as follows:
pR=pITS←ITR←S(1)
Wherein pI=(x ', y ', 0,1), represents the coordinate of a certain pixel in arbitrary 2D imaging plane (x ', y '), pR=(x, y, z, 1) represents this pixel respective coordinates in described world coordinate system R.
TS←IRepresenting the transformed representation of described 2D imaging coordinate system I to 6 axle inertial sensor coordinate system S, it expresses the geometrical relationship of 2D imaging plane I and described 6 axle inertial sensor coordinate system S, and this geometrical relationship is determined by Design of Mechanical Structure, therefore TS←IFor constant, it embodies form and is:
(2)
TR←SRepresenting the transformed representation of 6 axle inertial sensor coordinate system S to described world coordinate system R, it expresses probe 1 movement locus in three dimensions that described 6 axle inertial sensors 11 are found out, and it embodies form and is:
(3)
In formula,X,Y,Z is probe x along world coordinate system R, y, the displacement of z-axis translation,The angular displacement that respectively coordinate system x, y, z in world coordinate system R tri-axle turns over counterclockwise.
S3, the pixel after ordinate transform is stored in described S1 the memory space 31 of the world coordinate system R opened up.And carry out pixel interpolation.Pixel in memory space 31 is carried out three-dimensional surface rebuilding, and carries out light projection process.
S4, gather successive image constantly, repeat S1 to S3, it is achieved 3D imaging constantly.
Claims (1)
1. the formation method of a freedom-arm, three-D ultrasonic image-forming system, freedom-arm, three-D ultrasonic image-forming system includes Ultrasonic-B probe, microprocessor and host computer, and Ultrasonic-B probe includes the trigger key of outside, outside groove, the long cable of afterbody, 6 internal axle inertial sensors, internal traditional B ultrasonic fan sweeping mechanism and internal stent；6 axle inertial sensors are fixed on the support within Ultrasonic-B probe, the B ultrasonic imaging point of 6 axle inertial sensor central planes and probe distal end B ultrasonic fan sweeping mechanism is in same plane, and 6 axle inertial sensor centers with B ultrasonic fan sweeping mechanism B ultrasonic imaging point all on Ultrasonic-B probe central axis；With 6 axle inertial sensor central planes above, the outer position of Ultrasonic-B probe is provided with groove, groove and 6 axis-rotating type sensor parallel；Groove is provided with trigger key；6 axle inertial sensors, B ultrasonic fan sweeping mechanism and trigger key are connected with microprocessor by long cable, and microprocessor meets host computer, the I in described microprocessor by USB interface2C module and 6 axle inertial sensor intercommunication, configure sensor and the reading of data；The fan sweeping of microprocessor drives module and ultrasonic signal transmitting-receiving Tx/Rx module output drive signal respectively to motor and excitation ultrasonic transducer in B ultrasonic fan sweeping mechanism；Trigger key triggers signal input microprocessor, it is characterised in that formation method specifically includes following steps:
1) inertial sensor coordinate system S is set up for initial point at central plane with 6 axle inertial sensor centers；With B ultrasonic imaging point for initial point, set up B ultrasonic imaging coordinate system I at 6 axle inertial sensor central planes；Inertial sensor coordinate system S center and B ultrasonic imaging coordinate system I center distance L；
2) when user presses the trigger key of groove, microprocessor receives 6 axle inertial sensors and B ultrasonic fan sweeping mechanism position and image-forming information, and microprocessor mates B ultrasonic two-dimensional imaging and its positional information, and is transferred in host computer by USB port；
3) initialize: after receiving the 3D scanning triggering signal that described trigger key sends, set up world coordinate system R with the B ultrasonic two dimensional image that the first width receives for benchmark, open up memory space；
4) obtaining follow-up B ultrasonic two dimensional image and the relative position relation of the first width B ultrasonic image, distribute a thread for each pixel in follow-up B ultrasonic two dimensional image, and carry out the ordinate transform of pixel, the ordinate transform formula comprised in thread is as follows:
pR=pITS←ITR←S
Wherein pI=(x ', y ', 0,1) represents the coordinate of a certain pixel in arbitrary 2D imaging plane (x ', y '), pR=(x, y, z, 1) represents this pixel respective coordinates in described world coordinate system R；
TS←IRepresenting the transformed representation of described B ultrasonic imaging coordinate system I to 6 axle inertial sensor coordinate system S, it embodies form and is:
TR←SRepresenting the transformed representation of 6 axle inertial sensor coordinate system S to described world coordinate system R, it embodies form and is:
In formula,X,Y,Z is probe x along world coordinate system R, y, the displacement of z-axis translation,The angular displacement that respectively coordinate system x, y, z in world coordinate system R tri-axle turns over counterclockwise；
5) pixel after ordinate transform is stored into the memory space of the world coordinate system R opened up in step 3), and carries out pixel interpolation；Pixel in memory space is carried out three-dimensional surface rebuilding, and carries out light projection process；
6) Real-time Collection successive image, repeats step 3) to step 5), it is achieved real-time 3D imaging.
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| DE102015218531A1 (en) | 2015-09-28 | 2017-03-30 | Robert Bosch Gmbh | Method for positioning a hand-held device on a body surface, control device, hand-held device and measuring system |
| CN111184535B (en) * | 2020-03-11 | 2023-07-07 | 上海科技大学 | Handheld unconstrained scanning wireless three-dimensional ultrasonic real-time voxel imaging system |
| CN114533111A (en) * | 2022-01-12 | 2022-05-27 | 电子科技大学 | Three-dimensional ultrasonic reconstruction system based on inertial navigation system |
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