CN104161546A - Ultrasonic probe calibration system and method based on locatable puncture needle - Google Patents
Ultrasonic probe calibration system and method based on locatable puncture needle Download PDFInfo
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- CN104161546A CN104161546A CN201410456398.XA CN201410456398A CN104161546A CN 104161546 A CN104161546 A CN 104161546A CN 201410456398 A CN201410456398 A CN 201410456398A CN 104161546 A CN104161546 A CN 104161546A
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Abstract
The invention discloses an ultrasonic probe calibration system and method based on a locatable puncture needle. The calibration method includes the steps that S1, a calibration model is designed and manufactured; S2, calibration model feature points in an ultrasonic image are extracted; S3, a calibration transformational matrix is solved according to the calibration feature points extracted from the ultrasonic image. The calibration problem of a tracking and locating ultrasonic probe in the current ultrasonic guidance interventional therapy and a free-type three-dimensional ultrasonic imaging system can be solved, so that more accurate calibration accuracy and more convenient calibration operation are obtained, and ultrasonic calibrated accurately can effectively improve the quality of the three-dimensional ultrasonic reconstructed image and improve safety and the success rate of operations.
Description
Technical field
The present invention relates to medical apparatus and instruments and ultrasonic detecting technology field, relate in particular to a kind of ultrasonic probe calibration system and method based on can positioning puncture needle.
Background technology
In Ultrasound-guided interventional and operation, the locus of ultrasonic probe need to be followed the tracks of by three-dimensional fix system, and with simultaneously tracked operating theater instruments unification in same coordinate system, to apparatus attitude and position are presented on ultrasonoscopy exactly, present to doctor.Utilize 3 D positioning system to follow the tracks of the technology of ultrasonic probe, be applied to equally obtaining and rebuilding of free style three-dimensional ultrasound pattern.In order to follow the tracks of extended imaging plane on ultrasonic probe, first must determine and be tied to the transformation relation between ultra sonic imaging plane coordinate system from position tracing sensor coordinate.The process of measuring and solve this conversion is exactly that ultrasonic probe is demarcated.
The main method of current ultrasonic probe spatial calibration has:
Point methods based on reticule or spheroid are demarcated in body mould, the face method of demarcating based on plane body mould and the method for calibrating based on image internal characteristics point.Conventional ultrasonic probe calibration steps is that the ultrasonic body mould of known concrete physical dimension is scanned, for example, be placed in the reticule of the known concrete physical dimension in tank or by certain regularly arranged spherula.Ultrasonic these points are carried out to the scanning of multi-angle, then in ultrasonoscopy, these characteristic points are cut apart.Due to every bit concrete corresponding its known location in world coordinate system all, the overdetermined equation that therefore can consist of these point sets optimization method solve.
The second is the method for calibrating based on plane body mould, and the method is by placing one at the plane body mould of ultrasonic middle blur-free imaging in tank, and utilizes correlated characteristic straight line in this plane to calibrate.But its calibration accuracy is limited to narrow and small imaging angle and the degree of depth, because the thickness of this plane body mould imaging and definition depend on when scanning scan depths and the setting of ultrasound focus.Another problem is the spread speed of ultrasound wave in water is not identical (ultrasound wave propagate in tissue speed be 1540m/s) with spread speed in tissue, if therefore will the result of plane body mould calibration be used for to body scans in tank, the distortion that can have certain error and finally cause rebuilding image.The common way addressing this problem is in tank, to inject specific material (as salt, ethanol or glycerol) to make this mixing material be 1540m/s to hyperacoustic spread speed.
The third calibration steps is not use body mould, and directly utilizes the ultrasonic image frame of collection and the relevant information between frame to estimate, these class methods need to be followed the tracks of selected characteristic point relative position between picture frame and frame in ultrasonoscopy.
In existing ultrasonic probe scaling method, the problem that the first kind exists based on some method that body mould is demarcated is: because the thickness of ultrasonic velocity is limited, therefore be difficult to ultrasonic probe directly to aim at the center of these feature spheroids, and when probe is not directly aimed at spheroid, this spheroid also may appear on corresponding ultrasonoscopy.The problem that the method for Equations of The Second Kind based on face body mould exists is: require ultra sonic imaging plane just by the characteristic plane of face body mould, and very high to operator's proving operation requirement, and on face body mould, the extraction of characteristic point is also inconvenient.The problem that the scaling method of the 3rd class based on image characteristic point dependency exists is: because speckle noise in ultrasonoscopy is many, it is more difficult will being partitioned into accurately the characteristic point in image and mating, so the calibration accuracy of these class methods is relatively low.
Therefore,, for above-mentioned technical problem, be necessary to provide a kind of ultrasonic probe calibration system and method based on can positioning puncture needle.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of new ultrasonic probe calibration system and method based on can positioning puncture needle.
To achieve these goals, the technical scheme that the embodiment of the present invention provides is as follows:
A kind of ultrasonic probe calibration system based on can positioning puncture needle, described system comprises ultrasonic main frame and the space positioning apparatus and the system host that are connected with ultrasonic main frame, described system host is used for carrying out data acquisition and demarcation solves, described space positioning apparatus comprises space positioning system main frame, ultrasonic probe, and optical tracking object, described optical tracking object comprises the ultrasonic probe fixture being fixedly installed on ultrasonic probe, be fixedly installed in puncture needle and the first space orientation sensor on ultrasonic probe fixture, and be fixedly installed in the second space alignment sensor on puncture needle.
As a further improvement on the present invention, described the first space orientation sensor and second space alignment sensor are optical pickocff or electromagnetic transducer.
Correspondingly, a kind of ultrasonic probe scaling method based on can positioning puncture needle, described method comprises:
S1, peg model designing and making;
Peg model feature point extraction in S2, ultrasonoscopy;
S3, according to the feature point for calibration extracting on ultrasonoscopy, solve demarcation transformation matrix.
As a further improvement on the present invention, the peg model in described step S1 is:
M
TNu
i＝M
TRM
RPX
i，
Wherein, u
ireal space position for second space alignment sensor on puncture needle; X
ifor the pixel coordinate of second space alignment sensor in ultrasonoscopy on puncture needle; M
rPrepresent to need to calculate the rigid body translation matrix that the ultrasonoscopy plane of scanning motion solving arrives optical tracking object; M
tRrepresent that ultrasonic probe is with respect to the transformation matrix of optical tracking object, M
tRthe locus and the orientation information that represent ultrasonic probe; M
tNpoint on expression puncture needle is with respect to the transformation matrix of ultrasonic real-time head.
As a further improvement on the present invention, described step S3 is specially:
According to the feature point for calibration extracting on ultrasonoscopy, solve demarcation transform matrix M
rP.
As a further improvement on the present invention, described step S3 is specially:
Adopt method of least square to solve corresponding calibration equation:
As a further improvement on the present invention, described step S2 is specially:
Adopt Hough transformation to detect the puncture needle linear feature in ultrasonoscopy, and extract the feature point for calibration on linear feature.
The present invention has following beneficial effect:
The present invention can solve in current Ultrasound-guided interventional and free style three-dimension ultrasonic imaging system problem of calibrating that can track and localization ultrasonic probe, to obtain more accurate stated accuracy and proving operation more easily, Accurate Calibration ultrasonic can effectively provide three dimentional reconstruction image quality, and improve safety and the success rate of performing the operation.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, the accompanying drawing the following describes is only some embodiment that record in the present invention, for those of ordinary skills, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the module diagram of ultrasonic probe calibration system in the embodiment of the invention.
Fig. 2 is the schematic flow sheet of ultrasonic probe scaling method in the embodiment of the invention.
Fig. 3 is that the calibration equation of ultrasonic probe scaling method in the embodiment of the invention solves schematic diagram.
The specific embodiment
In order to make those skilled in the art person understand better the technical scheme in the present invention, below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, rather than whole embodiment.Embodiment based in the present invention, those of ordinary skills, not making the every other embodiment obtaining under creative work prerequisite, should belong to the scope of protection of the invention.
Shown in ginseng Fig. 1, the invention discloses a kind of ultrasonic probe calibration system based on can positioning puncture needle, comprise ultrasonic main frame 5 and the space positioning apparatus and the system host 2 that are connected with ultrasonic main frame 5, system host 2 is as the graphics workstation that carries out data acquisition and demarcation and solve, space positioning apparatus comprises space positioning system main frame 1, ultrasonic probe 6, and optical tracking object, optical tracking object comprises the ultrasonic probe fixture 7 being fixedly installed on ultrasonic probe 6, be fixedly installed in puncture needle and the first space orientation sensor 8 on ultrasonic probe fixture 7, and be fixedly installed in the second space alignment sensor 10 on puncture needle 9.
When the patient 3 on operation table 4 performs the operation, carry out locating the scanning of ultrasonic probe, can conveniently utilize the ultrasonic probe fixture on optical tracking object that space orientation sensor is fixed on conventional ultrasound probe.Preferably, first, second space orientation sensor in the present invention is optical pickocff or electromagnetic transducer.
Native system is fixed the first space orientation sensor by the two-dimensional ultrasound probe traditional, for obtaining ultrasonic probe with respect to the accurate locus (comprising: positional information, orientation information) of the zero of optical markings thing own.These spatial orientation information data flow will be collected by the control unit of space positioning apparatus, and are input to system host by the data wire of special interface.Meanwhile, the ultrasonoscopy of each frame of ultrasonic main frame output, is input to graphics workstation by special interface with the supporting api interface of main frame.The ultrasonic probe calibration software system of independent development is installed on graphics workstation, can gathers and record to the live video stream from ultrasonic main frame with from the spatial position data stream of space positioning system main frame simultaneously, for follow-up demarcation, solve.
Correspondingly, shown in ginseng Fig. 2, the ultrasonic probe scaling method based on can positioning puncture needle, specifically comprises the following steps:
S1, peg model designing and making;
Peg model feature point extraction in S2, ultrasonoscopy;
S3, according to the feature point for calibration extracting on ultrasonoscopy, solve demarcation transformation matrix.
The first step of calibration process is peg model designing and making.In the scaling method of ultrasonic probe, the designing and making of peg model is most important.The quality of modelling directly has influence on whether proving operation is simple and easy, whether feature point for calibration imaging is clear, whether feature point extraction is convenient and whether follow-up demarcation solves accurate.The tracking sensing utensil providing according to space positioning apparatus is made handbook and the original puncture location racks of two-dimensional ultrasound system, made an optical tracking object by oneself, comprise ultrasonic probe fixture, puncture needle and the first space orientation sensor and second space alignment sensor, can be easily and the seamless combination of existing ultrasonic probe puncture frame, meet doctor's operating habit.
By the second space alignment sensor on puncture needle, the real space position u of every bit on puncture needle
ican pass through space positioning apparatus Real-time Obtaining; By follow the tracks of the physical location of this puncture needle on ultrasonoscopy, also can obtain location point u on puncture needle simultaneously
iimage pixel coordinate X
i.As seen from Figure 3, u
iand X
ithat the difference of same point under two different coordinates systems represent represents.Therefore, between the two, there is following relation (being peg model):
M
TNu
i＝M
TRM
RPX
i，
Wherein, the coordinate system that T is space positioning apparatus, N is the coordinate system of second space alignment sensor on puncture needle, R is the coordinate system of the first space orientation sensor on ultrasonic probe, the coordinate system that P is ultrasound image plane.M
rPrepresent to need to calculate the rigid body translation matrix that the ultrasonoscopy plane of scanning motion solving arrives optical tracking object; M
tRrepresent that ultrasonic probe is with respect to the transformation matrix of optical tracking object, M
tRrepresent locus and the orientation information (being conventionally referred to as attitude information) of ultrasonic probe, by space positioning apparatus, export in real time acquisition; M
tNpoint on expression puncture needle is with respect to the transformation matrix of ultrasonic real-time head.
The second step of demarcating is to carry out body modular character point in ultrasonoscopy to extract, puncture probe is shown as straight line feature in ultra sonic imaging plane, it is more convenient and quick that the automatic extraction of straight line comes than the automatic extraction of point, preferably, the present invention adopts Hough transformation to detect the puncture needle linear feature in ultrasonoscopy.
The 3rd step of calibration process is to solve demarcation transform matrix M according to the feature point for calibration extracting on ultrasonoscopy
rP.
Because feature point for calibration is known with respect to the real space physical coordinates of space positioning apparatus and the pixel in plane of ultrasound is corresponding one by one with it, therefore the present invention, according to the series of features point obtaining, adopts method of least square to solve corresponding calibration equation:
Ultrasonic probe scaling method based on can positioning puncture needle of the present invention can guarantee that ultra sonic imaging plane is just by puncture needle, makes the process operation demarcated simple and easy.
In addition, the present invention can guarantee that puncture needle is known, visible all the time in ultrasound image plane.Meanwhile, because puncture needle is linear, even if puncture needle part video picture on ultrasonoscopy is unintelligible, also can estimate accurately by direct linear fit the information of this disappearance part.
In sum, ultrasonic probe calibration system based on can positioning puncture needle of the present invention and method can solve in current Ultrasound-guided interventional and free style three-dimension ultrasonic imaging system problem of calibrating that can track and localization ultrasonic probe, to obtain more accurate stated accuracy and proving operation more easily, Accurate Calibration ultrasonic can effectively provide three dimentional reconstruction image quality, and improve safety and the success rate of performing the operation.
To those skilled in the art, obviously the invention is not restricted to the details of above-mentioned one exemplary embodiment, and in the situation that not deviating from spirit of the present invention or basic feature, can realize the present invention with other concrete form.Therefore, no matter from which point, all should regard embodiment as exemplary, and be nonrestrictive, scope of the present invention is limited by claims rather than above-mentioned explanation, is therefore intended to include in the present invention dropping on the implication that is equal to important document of claim and all changes in scope.Any Reference numeral in claim should be considered as limiting related claim.
In addition, be to be understood that, although this description is described according to embodiment, but not each embodiment only comprises an independently technical scheme, this narrating mode of description is only for clarity sake, those skilled in the art should make description as a whole, and the technical scheme in each embodiment also can, through appropriately combined, form other embodiments that it will be appreciated by those skilled in the art that.
Claims (7)
1. the ultrasonic probe calibration system based on can positioning puncture needle, it is characterized in that, described system comprises ultrasonic main frame and the space positioning apparatus and the system host that are connected with ultrasonic main frame, described system host is used for carrying out data acquisition and demarcation solves, described space positioning apparatus comprises space positioning system main frame, ultrasonic probe, and optical tracking object, described optical tracking object comprises the ultrasonic probe fixture being fixedly installed on ultrasonic probe, be fixedly installed in puncture needle and the first space orientation sensor on ultrasonic probe fixture, and be fixedly installed in the second space alignment sensor on puncture needle.
2. system according to claim 1, is characterized in that, described the first space orientation sensor and second space alignment sensor are optical pickocff or electromagnetic transducer.
3. the ultrasonic probe scaling method based on can positioning puncture needle as claimed in claim 1, is characterized in that, described method comprises:
S1, peg model designing and making;
Peg model feature point extraction in S2, ultrasonoscopy;
S3, according to the feature point for calibration extracting on ultrasonoscopy, solve demarcation transformation matrix.
4. method according to claim 3, is characterized in that, the peg model in described step S1 is:
M
TNu
i＝M
TRM
RPX
i，
Wherein, u
ireal space position for second space alignment sensor on puncture needle; X
ifor the pixel coordinate of second space alignment sensor in ultrasonoscopy on puncture needle; M
rPrepresent to need to calculate the rigid body translation matrix that the ultrasonoscopy plane of scanning motion solving arrives optical tracking object; M
tRrepresent that ultrasonic probe is with respect to the transformation matrix of optical tracking object, M
tRthe locus and the orientation information that represent ultrasonic probe; M
tNpoint on expression puncture needle is with respect to the transformation matrix of ultrasonic real-time head.
5. method according to claim 4, is characterized in that, described step S3 is specially:
According to the feature point for calibration extracting on ultrasonoscopy, solve demarcation transform matrix M
rP.
6. method according to claim 5, is characterized in that, described step S3 is specially:
Adopt method of least square to solve corresponding calibration equation:
7. method according to claim 3, is characterized in that, described step S2 is specially:
Adopt Hough transformation to detect the puncture needle linear feature in ultrasonoscopy, and extract the feature point for calibration on linear feature.
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| CN104398306A (en) * | 2014-12-15 | 2015-03-11 | 柏云云 | Ultrasound intervention puncture needle guidance monitoring system and method |
| CN104771232A (en) * | 2015-05-05 | 2015-07-15 | 北京汇影互联科技有限公司 | Electromagnetic positioning system and selection method for three-dimensional image view angle of electromagnetic positioning system |
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| ES2572163A1 (en) * | 2015-12-04 | 2016-05-30 | Grifols Eng S A | Method of correction of the position and deviation of a needle from a syringe in a machine for the automatic preparation of intravenous medication (Machine-translation by Google Translate, not legally binding) |
| CN105769244A (en) * | 2016-03-22 | 2016-07-20 | 上海交通大学 | Calibration device for calibrating ultrasonic probe |
| CN107714082A (en) * | 2017-09-04 | 2018-02-23 | 北京航空航天大学 | A kind of ultrasonic probe caliberating device and method based on optical alignment |
| WO2018035942A1 (en) * | 2016-08-23 | 2018-03-01 | 深圳先进技术研究院 | Automatic tracking apparatus and method for tip of flexible puncture needle |
| CN108369273A (en) * | 2015-12-16 | 2018-08-03 | 皇家飞利浦有限公司 | Intervening equipment identifies |
| CN109259793A (en) * | 2018-07-11 | 2019-01-25 | 浙江京新术派医疗科技有限公司 | Ultrasonic calibration system, method, electronic equipment and storage medium |
| CN110575196A (en) * | 2018-06-11 | 2019-12-17 | 上海联影医疗科技有限公司 | ultrasonic probe and puncture surgery system |
| CN110926357A (en) * | 2019-12-09 | 2020-03-27 | 哈尔滨工业大学 | Method for constructing puncture needle shape change calibration model |
| CN113133832A (en) * | 2021-03-26 | 2021-07-20 | 中国科学院深圳先进技术研究院 | Calibration method and system for double-arm robot puncture system |
| CN113164206A (en) * | 2018-11-18 | 2021-07-23 | 特瑞格医学有限公司 | Spatial registration method for imaging apparatus |
| WO2022032964A1 (en) * | 2020-08-12 | 2022-02-17 | 中国科学院深圳先进技术研究院 | Dual-arm robot calibration method, system, terminal, and storage medium |
| CN114224388A (en) * | 2021-12-31 | 2022-03-25 | 山东大学 | Carotid artery three-dimensional reconstruction method and system based on multi-frequency ultrasound |
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| CN104398306A (en) * | 2014-12-15 | 2015-03-11 | 柏云云 | Ultrasound intervention puncture needle guidance monitoring system and method |
| CN104771232A (en) * | 2015-05-05 | 2015-07-15 | 北京汇影互联科技有限公司 | Electromagnetic positioning system and selection method for three-dimensional image view angle of electromagnetic positioning system |
| CN105193445A (en) * | 2015-09-01 | 2015-12-30 | 中国科学院深圳先进技术研究院 | Ultrasonic probe calibration phantom and system as well as ultrasonic probe calibration method |
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| CN108369273A (en) * | 2015-12-16 | 2018-08-03 | 皇家飞利浦有限公司 | Intervening equipment identifies |
| CN105769244B (en) * | 2016-03-22 | 2020-04-03 | 上海交通大学 | Calibration device for ultrasonic probe calibration |
| CN105769244A (en) * | 2016-03-22 | 2016-07-20 | 上海交通大学 | Calibration device for calibrating ultrasonic probe |
| WO2018035942A1 (en) * | 2016-08-23 | 2018-03-01 | 深圳先进技术研究院 | Automatic tracking apparatus and method for tip of flexible puncture needle |
| CN107714082A (en) * | 2017-09-04 | 2018-02-23 | 北京航空航天大学 | A kind of ultrasonic probe caliberating device and method based on optical alignment |
| CN110575196A (en) * | 2018-06-11 | 2019-12-17 | 上海联影医疗科技有限公司 | ultrasonic probe and puncture surgery system |
| CN109259793A (en) * | 2018-07-11 | 2019-01-25 | 浙江京新术派医疗科技有限公司 | Ultrasonic calibration system, method, electronic equipment and storage medium |
| CN113164206A (en) * | 2018-11-18 | 2021-07-23 | 特瑞格医学有限公司 | Spatial registration method for imaging apparatus |
| CN110926357A (en) * | 2019-12-09 | 2020-03-27 | 哈尔滨工业大学 | Method for constructing puncture needle shape change calibration model |
| WO2022032964A1 (en) * | 2020-08-12 | 2022-02-17 | 中国科学院深圳先进技术研究院 | Dual-arm robot calibration method, system, terminal, and storage medium |
| CN113133832A (en) * | 2021-03-26 | 2021-07-20 | 中国科学院深圳先进技术研究院 | Calibration method and system for double-arm robot puncture system |
| CN113133832B (en) * | 2021-03-26 | 2022-09-20 | 中国科学院深圳先进技术研究院 | Calibration method and system for double-arm robot puncture system |
| CN114224388A (en) * | 2021-12-31 | 2022-03-25 | 山东大学 | Carotid artery three-dimensional reconstruction method and system based on multi-frequency ultrasound |
| CN114224388B (en) * | 2021-12-31 | 2023-07-28 | 山东大学 | Carotid artery three-dimensional reconstruction method and system based on multi-frequency ultrasound |
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