CN104207801A - Ultrasonic detection image three-dimensional calibration method - Google Patents
Ultrasonic detection image three-dimensional calibration method Download PDFInfo
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- CN104207801A CN104207801A CN201310221987.5A CN201310221987A CN104207801A CN 104207801 A CN104207801 A CN 104207801A CN 201310221987 A CN201310221987 A CN 201310221987A CN 104207801 A CN104207801 A CN 104207801A
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Abstract
The invention relates to an ultrasonic detection image three-dimensional calibration method. According to the method, posture information of an ultrasonic probe is obtained in real time through a receiver on the ultrasonic probe, so that the coordinate of any point, including a cotton line intersection point, in a template can be converted into a receiver coordinate system; an ultrasonic image of the cotton line intersection point is obtained by scanning the cotton line intersection point in the mesh-shaped template through the ultrasonic probe; space vectors are built through the cotton line intersection point in the template, the coordinate of a cotton line intersection point imaging point in the ultrasonic image is calculated according geometric characteristics between the space vectors in the template, and accordingly the relation between the receiver coordinate system Or and a probe scanning image coordinate system Oi is calculated and positioned by means of least square matching of the same point. Compared with the prior art, the coordinate of the same point in an image coordinate system is calculated through the relation of the space vectors, human factor influences caused when the coordinate of the same point of the image is obtained manually in the prior art are avoided, and accordingly the method has the advantages of being high in calibration precision and reconstruction precision, high in calibration speed and the like.
Description
Technical field
The present invention relates to ultrasonic calibration technique field, especially relate to a kind of ultrasound detection image three-dimensional scaling method.
Background technology
Three-dimensional (3-D) ultrasonic demarcation is the visual indispensable committed step of ultrasonoscopy 3-D, because hand-held ultrasound probe Freehand sampling, what obtain is a series of non-parallel, irregular two dimension (2-D) ultrasonoscopys, only from the 2-D image information that ultrasonic probe obtains, calculate the geological information in the 3-D space of its correspondence, the parallel image sequence of create-rule thus, just can carry out follow-up three-dimensional reconstruction and Target Segmentation again.This calibration computational process is called the ultrasonic demarcation of 3-D, and it is usually by stationary positioned tracking equipment on ultrasonic probe, and the position relation calculated between this equipment and the ultrasonic probe plane of scanning motion realizes.This equipment can real time record ultrasonic probe with azimuth information during arbitrary orientation scanning target, therefore provide corresponding direction in space and positional information for scanning a series of non-parallel ultrasonoscopy that obtains.
Two kinds of conventional at present ultrasonic probe positioning and tracing methods are magnetic orientation and optical alignment, and this patent adopts magnetic positioning method.And positioning tracking device is once fixing, namely position relation between itself and the ultrasonic probe plane of scanning motion is determined, this transformational relation is not generally measured by physical method, but can be expressed as positioning tracking device coordinate to transfer the registration of Party membership, etc. from one unit to another (rotation, translation and proportionate relationship) relative to the conversion of ultrasound image plane pixel coordinate, its mathematical form is 4 × 4 matrixes.This transfers the registration of Party membership, etc. from one unit to another matrix also known as calibration matrix, calculates by the coordinate of homologous points under different coordinates in calibration matrix in the past, and application Least squares matching algorithm obtains the transition matrix between two coordinate systems.Wherein the coordinate of homologous points in image coordinate system relies on and manually picks up from image, inevitably like this brings anthropic factor on the impact of stated accuracy.
Summary of the invention
Object of the present invention is exactly the defect existed to overcome above-mentioned prior art, the angle that can be automatically extracted from the image file from homologous points coordinate is in the picture studied, unique distinction is that the space vector characteristic relation of application homologous points carries out the automatic calculating of image coordinate, thus the impact reducing anthropic factor in algorithm is provided, realize a kind of stated accuracy and reconstruction precision is high, demarcate fireballing ultrasound detection image three-dimensional scaling method.
Object of the present invention can be achieved through the following technical solutions:
A kind of ultrasound detection image three-dimensional scaling method, location receivers is connected with location transmitters, the method is fixed on the location receivers coordinate system Or on ultrasonic probe and the relation between scanning probe image coordinate system Oi by formwork calculation, described template is provided with two-layer netted cotton thread, netted cotton thread has n cotton thread intersection point on scanning plane, and described scaling method comprises the following steps:
1) the some I in ultrasound scan images is got
1as datum mark, obtain I
1at the coordinate that scanning probe image coordinate is fastened, I
1coordinate R in location receivers coordinate system
1for:
R
1＝T
r←t·T
t←p·P
1
Wherein, P
1for datum mark I
1respective coordinates in template coordinate system Op, T
r ← tfor location transmitters coordinate system Ot is relative to the transition matrix of location receivers coordinate system Or, T
t ← pfor template coordinate system Op is relative to the transition matrix of location transmitters coordinate system Ot;
2) according to position pickup point I in scanogram of cotton thread intersection point in template
2, obtain vector
direction, I
2respective coordinates in template coordinate system Op is P
2, according to P
1with P
2distance d
12with
direction calculating I
2at the coordinate that scanning probe image coordinate is fastened, I
2coordinate R in location receivers coordinate system
2for:
R
2＝T
r←t·T
t←p·P
2；
3) according to position pickup point I in scanogram of cotton thread intersection point in template
3, I
3respective coordinates in template coordinate system Op is P
3, vector
between angle be θ, according to
determine with θ
direction, according to P
1with P
3distance d
13with
direction calculating I
3at the coordinate that scanning probe image coordinate is fastened, I
3coordinate R in location receivers coordinate system
3for:
R
3＝T
r←i·T
t←p·P
3；
4) repeat step 2), 3), obtain the coordinate of n cotton thread intersection point in location receivers coordinate system and scanning probe image coordinate system on scanning plane, and carry out homologous points principle of least square coupling according to following formula, acquisition calibration matrix T
r ← t:
Wherein, R
ibe the coordinate of i-th cotton thread intersection point in location receivers coordinate system, I
ibe the coordinate that i-th cotton thread intersection point is fastened in scanning probe image coordinate, s is proportionality coefficient, and R is rotation relationship matrix, and p is translation vector;
5) gather m width ultrasound scan images, repeat step 1)-4), calculate m calibration matrix T
r ← imeansigma methods as final calibration result.
Described datum mark I
1for the imaging point of centre a bit in ultrasonoscopy of the superiors' intersection point in netted cotton thread.
Described
direction depend on I
2along datum mark I
1direction.
Described T
t ← pcalculated by template scaling method, described template scaling method is specially:
Template both sides are provided with multiple through hole, and through hole coordinate is known, by the probe tip of location receivers successively contact through hole, according to position relationship and the T of the relative location receivers thereon of needle point
r ← tobtain the coordinate of these through holes on location transmitters coordinate system Ot, obtain T according to homologous points principle of least square coupling
t ← p.
Compared with prior art, the present invention has the following advantages:
1, calculating homologous points coordinate by the method for space vector, is the method do not adopted in the past studying.Usually direct captured image homologous points coordinate or the leg-of-mutton method of applications similar is adopted to calculate homologous points coordinate in method in the past.
2, homologous points number is few, by building space vector, obtaining three pairs of homologous points and can complete calibration algorithm, demarcating simple and quick.
3, datum mark selects heart position in the picture, and experiment proves that this position affects little by the fan-shaped effect weakening of ultrasonic beam, can improve stated accuracy and reconstruction precision.
4, datum mark is selected in image position on the upper side, and experiment proves that this position is little by ultrasonic beam effect of depth, can improve stated accuracy and reconstruction precision is high.
5, in ultrasonoscopy, other 2 homologous points are selected in the position near picture centre line, can reduce the fan-shaped effect weakening impact of ultrasonic beam, improve stated accuracy and reconstruction precision.
6, the computational methods adopting homologous points principle of least square coupling and multi collect ultrasonoscopy to average again, calculate final calibration matrix, can revise in single operation due to probe align, image imaging point pickup etc. is because of the error of introducing mutually.
Accompanying drawing explanation
Fig. 1 is principle schematic of the present invention;
Fig. 2 is template scanning plane schematic diagram;
Fig. 3 is ultrasound scan images reconnaissance schematic diagram.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.The present embodiment is implemented premised on technical solution of the present invention, give detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
A kind of ultrasound detection image three-dimensional scaling method, adopt NDI magnetic orientation mode, location receivers is connected with location transmitters, the method need be aided with template and come, the location receivers coordinate system Or on ultrasonic probe and the relation between scanning probe image coordinate system Oi is fixed on by formwork calculation, described template is provided with two-layer netted cotton thread, and netted cotton thread has n (n is 10) individual cotton thread intersection point on scanning plane.
Scanning probe image coordinate system Oi needed for calibration process is self-defined, and location receivers coordinate system Or is the definition of NDI company, and location transmitters coordinate system Ot is the definition of NDI company, and template coordinate system Op is self-defined.
When ultrasonic probe as shown in Figure 1 scan templates time, delivery plate is in field of view certain some P
ρ=[x
ky
kz
k1]
t, the coordinate of its imaging point in coordinate system Oi is designated as P
i=[s
uu
ks
vv
k01]
t, s
u, s
vfor the resolution (proportionality coefficient, unit mm/pixel) of ultrasonoscopy both direction, generally: s
u=s
v, then the transformational relation between Op and Oi with homogeneous coordinate transformation matrix notation is:
Be abbreviated as: P
p=T
p ← tt
t ← rt
r ← ip
i(2)
Wherein, T
t ← rfor location receivers coordinate system Or is relative to the transition matrix of location transmitters coordinate system Ot, the location algorithm intrinsic by magnetic orientation tracking means can be calculated; T
p ← tfor transmitter coordinate system Ot is relative to the transition matrix of template coordinate system Op, calculated by template scaling method.(2) formula is all expressed as in the matrix form:
T
p←i＝T
p←i·T
t←r·T
r←i (3)
T
r←i＝T
t←r -1·T
p←t -1·T
p←i (4)
T
r ← ibe the final goal of calibration algorithm.
Described T
t ← pcalculated by template scaling method, described template scaling method is specially:
Template both sides are provided with multiple through hole, and through hole coordinate is known, by the probe tip of location receivers successively contact through hole, according to position relationship and the T of the relative location receivers thereon of needle point
r ← tobtain the coordinate of these through holes on location transmitters coordinate system Ot, obtain T according to homologous points principle of least square coupling
t ← p.
As shown in Figure 2, because the size of stencil design is known, so the P in template
1, P
2, P
2, d
12, d
13, vector
with
between angle theta can calculate, all as known conditions.
As shown in Figure 1-Figure 3, this scaling method comprises the following steps:
1) the some I in ultrasound scan images is got
1as datum mark, I
1for the superiors' intersection point in netted cotton thread centre a bit, obtain I
1at the coordinate that scanning probe image coordinate is fastened, I
1coordinate R in location receivers coordinate system
1for:
R
1＝T
r←t·T
i←p·P
1
Wherein, P
1for datum mark I
1respective coordinates in template coordinate system Op, T
r ← tfor location transmitters coordinate system Ot is relative to the transition matrix of location receivers coordinate system Or, t
t ← pfor template coordinate system Op is relative to the transition matrix of location transmitters coordinate system Ot;
2) according to position pickup point I in scanogram of cotton thread intersection point in template
2, I
2any of closing on the left of datum mark upper strata optional,
direction depend on I
2along datum mark I
1direction, the x-axis direction in template coordinate system can be parallel to, I
2respective coordinates in template coordinate system Op is P
2, by P
1with P
2distance d
12be converted to pixel, calculate I
1with I
2distance: | I
1i
2|=sd
12, s is proportionality coefficient, and unit is: pixel/mm, and namely every millimeter represents how many pixels, according to Distance geometry direction calculating I
2at the coordinate that scanning probe image coordinate is fastened, I
2coordinate R in location receivers coordinate system
2for: R
2=T
r ← tt
t ← pp
2;
3) according to position pickup point I in scanogram of cotton thread intersection point in template
3, I
3any of closing on the left of datum mark lower floor optional, I
3respective coordinates in template coordinate system Op is P
3, vector
between angle be θ, according to
determine with θ
direction, according to P
1with P
3distance d
13with
direction calculating I
3coordinate in scanning probe image coordinate system:
I
3coordinate R in location receivers coordinate system
3for: R
3=T
r ← tt
t ← pp
3;
4) repeat step 2), 3), obtain the coordinate of 10 cotton thread intersection points in location receivers coordinate system and scanning probe image coordinate system on scanning plane, and carry out homologous points principle of least square coupling according to following formula, acquisition calibration matrix T
r ← i:
Wherein, R
1be the coordinate of i-th cotton thread intersection point in location receivers coordinate system, I
ibe the coordinate that i-th cotton thread intersection point is fastened in scanning probe image coordinate, R is rotation relationship matrix, and p is translation vector;
5) gather 10 width ultrasound scan images, repeat step 1)-4), calculate m calibration matrix T
r ← imeansigma methods as final calibration result.
Last T
r ← ibe 4 × 4 matrixes, first three is classified as rotation relationship R, and last is classified as translation vector p:
Claims (4)
1. a ultrasound detection image three-dimensional scaling method, location receivers is connected with location transmitters, it is characterized in that, the method is set up homologous points space vector to calculate by template and is fixed on the location receivers coordinate system Or on ultrasonic probe and the relation between scanning probe image coordinate system Oi, described template is provided with two-layer netted cotton thread, netted cotton thread has n cotton thread intersection point on scanning plane, and described scaling method comprises the following steps:
1) the some I in ultrasound scan images is got
1as datum mark, obtain I
1at the coordinate that scanning probe image coordinate is fastened, I
1coordinate R in location receivers coordinate system
1for:
R
1＝T
r←t·T
t←p·P
1
Wherein, P
1for datum mark I
1respective coordinates in template coordinate system Op, T
r ← tfor location transmitters coordinate system Ot is relative to the transition matrix of location receivers coordinate system Or, T
t ← pfor template coordinate system Op is relative to the transition matrix of location transmitters coordinate system Ot;
2) according to position pickup point I in scanogram of cotton thread intersection point in template
2, obtain vector
direction, I
2respective coordinates in template coordinate system Op is P
2, according to P
1with P
2distance d
12with
direction calculating I
2at the coordinate that scanning probe image coordinate is fastened, I
2coordinate R in location receivers coordinate system
2for:
R
2＝T
r←t·T
t←p·P
2；
3) according to position pickup point I in scanogram of cotton thread intersection point in template
3, I
3respective coordinates in template coordinate system Op is P
3, vector
between angle be θ, according to
determine with θ
direction, according to P
1with P
3distance d
13with
direction calculating I
3at the coordinate that scanning probe image coordinate is fastened, I
3coordinate R in location receivers coordinate system
3for:
R
3＝T
r←t·T
t←p·P
3；
4) repeat step 2), 3), obtain the coordinate of n cotton thread intersection point in location receivers coordinate system and scanning probe image coordinate system on scanning plane, and carry out homologous points principle of least square coupling according to following formula, acquisition calibration matrix T
r ← t:
Wherein, R
ibe the coordinate of i-th cotton thread intersection point in location receivers coordinate system, I
ibe the coordinate that i-th cotton thread intersection point is fastened in scanning probe image coordinate, s is proportionality coefficient, and R is rotation relationship matrix, and p is translation vector;
5) gather m width ultrasound scan images, repeat step 1)-4), calculate m calibration matrix T
r ← tmeansigma methods as final calibration result.
2. a kind of ultrasound detection image three-dimensional scaling method according to claim 1, is characterized in that, described datum mark I
1for the imaging point of centre a bit in ultrasonoscopy of the superiors' intersection point in netted cotton thread.
3. a kind of ultrasound detection image three-dimensional scaling method according to claim 1, is characterized in that, described
direction depend on I
2along datum mark I
1direction.
4. a kind of ultrasound detection image three-dimensional scaling method according to claim 1, is characterized in that, described T
t ← pcalculated by template scaling method, described template scaling method is specially:
Template both sides are provided with multiple through hole, and through hole coordinate is known, by the probe tip of location receivers successively contact through hole, according to position relationship and the T of the relative location receivers thereon of needle point
r ← iobtain the coordinate of these through holes on location transmitters coordinate system Ot, obtain T according to homologous points principle of least square coupling
t ← p.
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| CN111449680A (en) * | 2020-01-14 | 2020-07-28 | 深圳大学 | Optimization method of ultrasonic scanning path and ultrasonic equipment |
| CN111449680B (en) * | 2020-01-14 | 2023-07-18 | 深圳大学 | Ultrasonic scanning path optimization method and ultrasonic equipment |
| CN111671519A (en) * | 2020-06-15 | 2020-09-18 | 新博医疗技术有限公司 | Ultrasonic image calibration system and calibration method |
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