CN105433982B - The method and device of complex imaging in a kind of ultrasonoscopy - Google Patents
The method and device of complex imaging in a kind of ultrasonoscopy Download PDFInfo
- Publication number
- CN105433982B CN105433982B CN201510923863.0A CN201510923863A CN105433982B CN 105433982 B CN105433982 B CN 105433982B CN 201510923863 A CN201510923863 A CN 201510923863A CN 105433982 B CN105433982 B CN 105433982B
- Authority
- CN
- China
- Prior art keywords
- image data
- setting
- current
- coordinate
- date
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
The present invention relates to a kind of methods of complex imaging in ultrasonoscopy, include the following steps：The image data obtained respectively by multiple setting scanning angles is obtained, and is stored in the storage region of setting；The current image date for obtaining current scan angle, finds image data identical with current scan angle, obtains its difference image data；Obtain the coordinate shift amount of current image date pair image data identical with its scanning angle；Current image date is stored in the storage region of above-mentioned setting, remaining image data are compensated using the above-mentioned coordinate shift amount that obtains, and the image data after compensation is respectively stored in the storage region of above-mentioned setting；Image data in the storage region of the setting is compound, obtain composite image data.The invention further relates to a kind of devices for realizing the above method.The method and device for implementing complex imaging in a kind of ultrasonoscopy of the present invention, has the advantages that：Obtained composite image data is more accurate.
Description
Technical field
The present invention relates to Medical Instruments field of signal processing, more specifically to complex imaging in a kind of ultrasonoscopy
Method and device.
Background technology
In medical ultrasound image, since imaging organ or the inhomogeneities of institutional framework, some small structures cannot be by
It differentiates, in addition the interference phenomenon of acoustic signals, forms distinctive spot on the ultrasound image, this spot is a kind of graininess
, chequered with black and white texture reduces the two-dimensional resolution of image.Currently, spatial compound imaging technology can be fine due to it
Speckle noise is eliminated on ground, is more and more widely used in medical ultrasound image.Spatial compound imaging refers to will be more
The image that width scans from different perspectives is merged into piece image.For example, in the case of one kind, three deflection angles of linear array are utilized
The component image of degree realizes spatial compounding, and in entire scanning area, the component image of three deflection angles is in a step sector
It is overlapped in domain.Since speckle noise randomly generates, so the image for each frame difference deflection angle that different moments receive
It is distributed with different speckle noises, while their characteristic informations having the same, therefore the image after being merged to it and original
First image can greatly reduce compared to speckle noise, and edge can also enhance.A kind of typical ultrasonic space complex imaging will be pre-
First degree of setting Preferred Angle (angles of display that ultrasonoscopy is referred to reference to angle).Ultrasonic space complex imaging system obtains first
One frame image judges whether image angle information is identical as with reference to angle, if it is not, image progress resampling is become tool
The image for having and referring to angle same coordinate system, then by image and its angle information deposit list, which can store
Number of image frames be setting, until deposited in list it is enough setting number of frames image data, by list image data be added,
Combination picture is obtained, then combination picture is normalized, digital scan variation finally is done to the combination picture after normalization
Output.One group of ultrasonoscopy with different angle information can also be obtained first, this several width is contained into different angle information
Image carry out it is compound obtains the output of first frame combination picture, then by the first frame image in this group of image from obtained composite diagram
It is subtracted as in, part combination picture is obtained, while obtaining a new frame angular image data, by part combination picture and new angle
Image addition obtains the second frame combination picture.Thereby realize real-time spatial compound imaging.However due to this few width differences angle
The time that the image of degree receives is different, due to the movement organized or popped one's head in etc., can cause the seat for the image that different moments receive
Mark existing shift phenomenon so that obtained real-time combination picture has larger error.
Invention content
The technical problem to be solved in the present invention is, for the prior art real-time combination picture obtained above have compared with
The defect of big error, provide its real-time combination picture with smaller error a kind of ultrasonoscopy in complex imaging method and
Device.
The technical solution adopted by the present invention to solve the technical problems is：Construct a kind of side of complex imaging in ultrasonoscopy
Method includes the following steps：
A the image data obtained respectively by multiple setting scanning angles) is obtained, and is stored in the storage region of setting；
B) image data obtained under current scan angle is current image date, by current scan angle and is stored more
The angle information of a image data compares, and finds identical with current scan angle, stored image data, identical by two
The image data of scanning angle is compared, and obtains its difference image data；
C) according to the difference image data, current image date pair image data identical with its scanning angle is obtained
Coordinate shift amount；
D the storage of above-mentioned setting) is stored in instead of the image data of above-mentioned same scan angle using current image date
Region is compensated remaining image data using the above-mentioned coordinate shift amount that obtains, and the image data after compensation is deposited respectively
Store up the storage region in above-mentioned setting；Image data in the storage region of the setting is compound, obtain composite image data.
Further, the step A) in, further comprise following steps：
A1 its image data) is obtained under the scanning angle of setting, judges the picture number stored in the storage region of setting
According to whether setting value is reached, if not, executing step A2)；If so, executing step B)；
A2) obtained image data and its scanning angle information are stored to the storage region to the setting together, and returned
Return step A1)；
Wherein, the setting value is the number of the scanning angle of setting.
Further, the step A1) in still further comprise, judge whether the scanning angle of the image data is to set
Fixed scanning angle, if so, being stored in the setting storage region；Otherwise, resampling is carried out to the image data, makes its scan angle
It is stored in the setting storage region after the image data coordinate system having the same that degree is zero.
Further, the step B) further comprise following steps：
B1) obtain with current scan angle current image date, found in the storage region of the setting with
The identical image data of the current image date scanning angle, carries out Gaussian smoothing filter to above-mentioned two image data respectively
After subtract each other, take its absolute value, obtain the difference image data of above-mentioned two image data；
B2 threshold processing) is carried out to obtained difference image data, removes the influence of noise spot.
Further, the step B2) further comprise following steps：
B21) point less than the first threshold value of its gray value in the difference image data is set to zero；
B22) by the addition of the gray value of all the points adjacent with the non-zero points obtained in an above-mentioned steps divided by the phase
The quantity of adjoint point obtains the average value of the consecutive points of the non-zero points, judges whether the average value is less than the second threshold value, if so,
Set the non-zero points to zero；Otherwise, retain the non-zero points；The each non-zero points obtained in traversal above-mentioned steps, obtain institute
State the non-zero region of difference image data.
Further, the step D) in, further comprise following steps：
D1 the fortune of the identical scanning angle image data of above-mentioned two) is obtained by the non-zero region of the difference image data
Dynamic region；
D2) moving region of current image date is compensated into every trade coordinate using setting step-length, and after each compensation
It calculates the moving region of the current image date after compensation and there is the picture number at same scan angle with the current image date
According to moving region mean square deviation whether be less than third threshold value, if not, continuing to execute this step；If so, obtaining present image
The row coordinate shift amount of data is current line coordinate compensation rate；
D3) moving region of current image date is compensated into ranks coordinate using setting step-length, and after each compensation
It calculates the moving region of the current image date after compensation and there is the picture number at same scan angle with the current image date
According to moving region mean square deviation whether be less than third threshold value, if not, continuing to execute this step；If so, obtaining present image
The row coordinate shift amount of data is when forefront coordinate compensation rate.
Further, the step D2) or D3) in, respectively to each row or column coordinate compensate after present image number
According to moving region with and the current image date there is the moving region of the image data of same scan angle to do gray scale and reflect
It penetrates, is mapped to two row vectors or column vector, indicate row projection or the row projection of image；Aforementioned row projection is obtained respectively or row is thrown
The mean square error of shadow, when it is less than third threshold value, iteration stopping obtains the offset of row coordinate or row coordinate；The row
The offset of coordinate or row coordinate is that compensation step-length is multiplied by compensation number.
Further, the step D) in, remaining image data are compensated using the above-mentioned coordinate shift amount that obtains
When, the row or column compensation rate is multiplied by using different coefficients to different image datas, the row or column of its image is mended
It repays.
The invention further relates to a kind of devices for realizing the above method, including：
Image data memory cell：For obtaining the image data obtained respectively by multiple setting scanning angles, and store
In the storage region of setting；
Difference image data acquisition unit：Current image date for obtaining current scan angle, by itself and storage
Multiple images data compare, and find image data identical with current scan angle, by the picture number of two same scan angles
According to being compared, its difference image data is obtained；
Coordinate shift acquisition unit：For according to the difference image data, obtaining current image date pair and being scanned with it
The coordinate shift amount of the identical image data of angle；
Image data compensates and recombiner unit：For using current image date to replace the image of above-mentioned same scan angle
Data are stored in the storage region of above-mentioned setting, are compensated using the above-mentioned coordinate shift amount that obtains to remaining image data, and
Image data after compensation is respectively stored in the storage region of above-mentioned setting；By the picture number in the storage region of the setting
According to compound, composite image data is obtained.
Further, described image data storage cell further comprises：
Store judgment module：For obtaining the image data under current scan angle, judge to deposit in the storage region of setting
Whether the image data of storage reaches setting value, if not, calling memory module；If so, calling difference image data acquisition unit；
Image data memory module：It is set for storing obtained image data and its scanning angle information described in together
Fixed storage region, and call storage judgment module；
Wherein, the setting value is the number of the scanning angle of setting；
The difference image data acquisition unit further comprises：
Difference image data obtains module：For obtaining the current image date with current scan angle, set described
Image data identical with the current image date scanning angle is found in fixed storage region, respectively to above-mentioned two figure
Subtract each other after carrying out Gaussian smoothing filter as data, takes its absolute value, obtain the difference image data of above-mentioned two image data；
Threshold processing module：For carrying out threshold processing to obtained difference image data, the influence of noise spot is removed；
The coordinate shift acquisition unit further comprises：
Moving region determining module：For being obtained by the non-zero region of the difference image data, above-mentioned two is identical to sweep
Retouch the moving region of angular image data；
Row coordinate compensation rate obtains module：For using setting step-length to sit the moving region of current image date into every trade
Mark compensation, and calculate after each compensation the moving region of the current image date after compensation and have with the current image date
Have whether the mean square deviation of the moving region of the image data at same scan angle is less than third threshold value, if not, continuing to execute this step
Suddenly；If so, the row coordinate shift amount for obtaining current image date is current line coordinate compensation rate；
Row coordinate compensation rate obtains module：For using setting step-length to sit the moving region of current image date into ranks
Mark compensation, and calculate after each compensation the moving region of the current image date after compensation and have with the current image date
Have whether the mean square deviation of the moving region of the image data at same scan angle is less than third threshold value, if not, continuing to execute this step
Suddenly；If so, the row coordinate shift amount for obtaining current image date is when forefront coordinate compensation rate.
The method and device for implementing complex imaging in a kind of ultrasonoscopy of the present invention, has the advantages that：Due to
The image data more currently obtained and figure stored, that there is same scan angle with the image data currently obtained
As data, to obtain difference image data between the two, and then the coordinate shift amount between the two image datas is obtained；
The coordinate shift amount reused carries out coordinate compensation to other data of storage, is finally given birth to using the data after compensating
At combination picture.So obtained composite image data is not only in real time, and it is more accurate.
Description of the drawings
Fig. 1 is the flow of complex imaging in the method and device embodiment of complex imaging in a kind of ultrasonoscopy of the present invention
Figure；
Fig. 2 is the particular flow sheet that the image data that each scanning angle obtains is stored in the embodiment；
Fig. 3 is the particular flow sheet that difference image data is obtained in the embodiment；
Fig. 4 is the particular flow sheet that the embodiment obtains coordinate shift amount；
Fig. 5 is the apparatus structure schematic diagram that composite imaging method is realized in the embodiment.
Specific implementation mode
Below in conjunction with attached drawing, embodiments of the present invention is further illustrated.
As shown in Figure 1, in a kind of ultrasonoscopy of the present invention in the method and device embodiment of complex imaging, this method
Include the following steps：
Step S11 obtains the image data of multiple scanning angles and storage：In this step, it obtains respectively by multiple settings
The image data that scanning angle obtains, and it is stored in the storage region of setting.In the present embodiment, since ultrasonic probe is with certain
Frequency emits ultrasonic wave, after the delay of certain time, the acoustic signals returned by Tissue reflectance is received, then by poly-
Coke delay and weighted sum, form a scan line, are swept using a series of Digital Signal Processing such as filtering, detection
The envelope signal of echo is retouched, forms image data, then image data is sent to display and is shown.In above process, surpass
The scanning angle of sonic probe is variation, it is also assumed that above-mentioned ultrasonic probe sends ultrasonic wave in the angle of setting, and is connect
Receive its echo.Different scanning angles is all had when in this way, ultrasonic wave being sent out every time.Certainly, this angle is not infinitely to become
It changes, when above-mentioned ultrasonic probe is after setting quantity angle carries out the above-mentioned action sent and received, it will return starts
Angular circulation carry out above-mentioned action.In this step, above-mentioned multiple setting scanning angles, exactly cover ultrasonic probe energy
The angle being enough scanned.For example, the probe for setting a ultrasonic system can carry out the scanning of 3 angles, above-mentioned setting is deposited
Storage area domain just stores the image data obtained in these three scanning angles, and these image datas are ultrasonic probes in difference
Scanning angle on respectively obtain.In this step, while storing above-mentioned image data, the image data will also be obtained
Scanning angle stores together, and in other words, the image data for being stored in above-mentioned setting storage region is with the acquirement picture number
According to scanning angle.
Step S12 obtains current image date and obtains its difference image data：In this step, due to ultrasonic probe
Scanning be ongoing, after above-mentioned setting storage region stores the image information of setting quantity, then the image that obtains
Data are regarded as the image data currently obtained, i.e. current image date, and system will one by one be handled it, then again
Together with the image data (after processing or compensation) of storage, combination picture is formed.So in this step, acquirement is worked as
The current image date of preceding scanning angle is found identical as current scan angle by it compared with the multiple images data of storage
Image data, the image data of two same scan angles is compared, its difference image data is obtained.It is poor as obtaining
The specific steps of partial image will be described in detail later.
Step S13 obtains coordinate shift amount by difference image data：In this step, according to the difference image number obtained
According to obtaining the coordinate shift amount of current image date pair image data identical with its scanning angle；The coordinate shift amount will be
It is carried out for the image data to storage region being obtained in other scanning angles, being stored in above-mentioned setting in subsequent step
Compensation, then these image datas through overcompensation will be used to form real-time combination picture.Similarly, coordinate is specifically obtained
The step of offset, will be described in detail later.
Step S14 compensates the data of other scanning angles according to obtained coordinate shift amount：In this step, make
The figure of storage region that other scanning angles are obtained with the coordinate shift amount obtained in above-mentioned steps, being stored in above-mentioned setting
As data are handled, the image data that obtains that treated.It is noted that in the present embodiment, it is inclined using above-mentioned coordinate
Shifting amount and the product of coefficient obtain image data to different scanning angle respectively and compensate as compensation rate, different scanning angle
It is different to spend the coefficient of obtained image data.
Step S15 treated data carry out compound, obtain combination picture：In this step, using current image date
It is stored in the storage region of above-mentioned setting instead of the image data of above-mentioned same scan angle, and by other scan angles after compensation
Spend the storage region that obtained image data is respectively stored in above-mentioned setting；By the image data in the storage region of the setting
It is compound, obtain composite image data.It is and identical in the prior art as compound method.
Fig. 2 shows the storage regions in above-mentioned setting to store the specific steps of image data, in the present embodiment, above-mentioned
The storage region of setting can be the region indicated by an array or list, and element or item therein are exactly foregoing description
Image data, these image datas can be scanning angles when being obtained by it to distinguish.Specifically, including as follows it walks
Suddenly：
Step S21 obtains the image data of first scanning angle：In this step, ultrasonic probe starts to scan,
Scanning angle is zero；System obtains the image data of present scan according to normal step.
Step S22 scanning angles are zero no, if so, executing step S23；Otherwise, step S24 is executed
Step S23 stores the specified storage region of the image data：In this step, sweeping due to the image data of acquirement
It retouches that angle is correct, is directly stored in the storage region of above-mentioned setting, i.e., by obtained image data and its scanning angle
Information stores the storage region to setting together.After having executed this step, step S25 is executed.
Step S24 is scanned angular transformation：In this step, since the scanning angle of the image data of acquirement is not
Zero, it is had differences with actual scanning angle, it is therefore desirable to carry out resampling to ultrasonoscopy, resampling is exactly that will obtain
Image with non-zero angle information is coordinately transformed, and makes itself and the process with reference to angular image coordinate system having the same.
After having executed this step, step S23 is executed, the image data after transformation is stored in the storage region of above-mentioned setting.
Step S25 continues to obtain the image data of a scanning angle：In this step, above-mentioned first image data be
The stored storage region to setting, so, continue to obtain the image data under current scan angle.Specifically, it often obtains
When the image data of the scanning angle of one setting, similar step S22- will be carried out to the actual scanning angle of the image data
The judgement of step S24 does not judge whether angle is zero instead of only, judges whether angle is current set angle, when
Judging result is the angle of image data when not being set angle, also needs image data being converted to setting scanning angle and takes
The image data obtained, i.e., so that the image data that the image data is obtained with set angle is in the same coordinate system.
Whether step S26 has stored the quantity of setting, if so, executing step S28；Otherwise, step S27 is executed.At this
In step, for the image data after first image data, the picture number in the storage region of above-mentioned setting will be judged
According to number indicated in each scanning angle if the image data in the storage region of the setting reaches the quantity of setting
There is data storage；If being less than setting quantity, then it represents that there are no image data storages in current scanning angle, so will be after
Renew storage.
Step S27 stores the image data：In this step, image data will be obtained on current scan angle to be stored in
State the storage region of setting.After having executed this step, jumps to above-mentioned steps S25 and execute.
Step S28 is using the image data as current image date：In this step, using the image data of acquirement as working as
Preceding image data, and it is compound that the subsequent i.e. image of processing is carried out to it.It is noted that image data is handled in this prior
And after generating combination picture, ultrasonic system will continue to acquire or obtain image data, and the image data to obtaining carries out
State processing.In other words, after a width or a frame image data are handled and generate combination picture, system will return to above-mentioned steps
S25, and continue to execute all steps thereafter.
Fig. 3 shows that (storage region of i.e. above-mentioned setting has stored setting quantity obtaining current image date
Image data) after to the process flow of current image date.It includes the following steps：
Step S31 finds image data identical with current image date scanning angle：In this step, due to having taken
Current image date is obtained, which carries the information of its scanning angle；Similarly, it is stored in depositing for above-mentioned setting
It is by with scanning angle information that image data in storage area domain, which equally carries its scanning angle information or even these image datas,
It marks or distinguishes；It is obtained simultaneously as being stored with the image data that the system can carry out in above-mentioned specified storage region
All scanning angles.So in this step, it, necessarily can be in the above storage area as long as obtaining current image date
In find a scanning angle image data consistent with its；As long as example, obtain current image date angle information, then with
The angle information comparison of each image data can find the consistent image data of angle information in the storage region of above-mentioned setting.
The two image datas obtain in the same scanning angle, and the time only obtained is different, is stored in above-mentioned setting
Storage region in that image data formerly obtain.
Step S32 is respectively filtered above-mentioned two image data, and subtracts each other：In this step, due to having found
The consistent image data of angle information carries out Gaussian smoothing filter to above-mentioned current image date and the image data found respectively
Subtract each other after wave, obtain its difference, its absolute value then is taken to obtained difference, obtains the difference image of above-mentioned two image data
Data.In this step, the difference image data obtained can not be directly used in follow-up step, it is also necessary to carry out thresholding to it
Processing, can just obtain the difference image data that can be used in subsequent step.It, can will be in this step in order to facilitate both distinguishing
Difference image data is known as initial difference image data, and the difference image data after subsequent threshold processing is known as
Treated difference image data.
Step S33 carries out threshold processing to obtained data, obtains difference image data：In this step, to obtaining
Difference image data (initial difference image data) carries out threshold processing, the influence of noise spot is removed, after obtaining processing
Difference image data.Specifically, in the present embodiment, threshold processing may include：By its in the difference image data
The point less than the first threshold value of gray value is set as zero；It then will be adjacent with the non-zero points obtained in an above-mentioned steps
The gray value of all the points is added divided by the quantity of the consecutive points, obtains the average value of the consecutive points of the non-zero points, judges that this is flat
Whether mean value is less than the second threshold value, if so, setting the non-zero points to zero；Otherwise, retain the non-zero points；Traverse above-mentioned step
The each non-zero points obtained in rapid, the non-zero region for the difference image data that obtains that treated.Due to forming above-mentioned difference image
Two image datas of data are to be spaced the very short time in same scanning angle to obtain, and in the ideal case, this two
A image should be roughly the same.But due to the displacement of organ or tissue, in addition the movement of ultrasonic probe, so in reality
The two image datas, which are substantially all, in the operation on border will appear above-mentioned non-zero region.
Fig. 4 is shown obtains the specific steps of coordinate compensation rate according to difference image data, including：
The moving region for the image data that step S41 obtains successively obtaining by difference image data：By the difference diagram
As the non-zero region of data obtains the moving region of the identical scanning angle image data of above-mentioned two；Words sentence is talked about, due to difference
Sub-image data is that two image datas that same scan angle obtains obtain, and in ideal conditions, being should be not upper
State non-zero region.But due to being had differences on the acquirement time of the two image datas, in the time interval, organ
The factors such as displacement make the appearance of above-mentioned non-zero region substantially inevitable.So the coordinate of above-mentioned non-zero region is distinguished
When being updated in above-mentioned two image data, obtained region is just the moving region of above-mentioned two image data respectively.
Step S42 compensates moving region into every trade, obtains line displacement amount：Using setting step-length to current image date
Moving region is compensated into every trade coordinate, and calculate after each compensation the current image date after compensation moving region and with institute
Whether the mean square deviation for stating the moving region of image data of the current image date with same scan angle is less than third threshold value, such as
It is no, continue to execute this step；If so, the row coordinate shift amount for obtaining current image date is current line coordinate compensation rate；
Step S43 compensates moving region into ranks, obtains line skew amount：Using setting step-length to current image date
Moving region is compensated into ranks coordinate, and calculate after each compensation the current image date after compensation moving region and with institute
Whether the mean square deviation for stating the moving region of image data of the current image date with same scan angle is less than third threshold value, such as
It is no, continue to execute this step；If so, the row coordinate shift amount for obtaining current image date is when forefront coordinate compensation rate.
In the above-mentioned acquirement row coordinate compensation rate or row coordinate compensation rate the step of, each row or column coordinate is compensated respectively
The moving region of current image date afterwards with and the current image date with same scan angle image data fortune
Grey scale mapping is done in dynamic region, is mapped to two row vectors or column vector, indicates row projection or the row projection of image；Before obtaining respectively
The mean square error for stating row projection or row projection, when it is less than third threshold value, iteration stopping obtains row coordinate or row coordinate
Offset；The offset of the row coordinate or row coordinate is that compensation step-length is multiplied by compensation number.
Below by taking the ultrasonic system of three scanning angle as an example, the above method is further detailed.It is assumed that
It is three to need compound image number, and three width images have different angle informations.
First, image numerical control list (storage region set presence in the form of image data list) is pre-established,
The ultrasound image data of each scanning angle is stored in image data list.Wherein with the first scanning angle be with reference to angle,
Collected ultrasound image data is handled, makes itself and the image coordinate system having the same with reference to angle, after processing
Ultrasound image data deposit image data list in.The big number for being less than scanning angle of each image data list is related,
To ensure that image data list is stored with the image data of each scanning angle.During image data acquiring, beginning it is more
Frame image is stored into image data list, after being stored in the ultrasound image data of each scanning angle in image data list,
Then enter next step.
Specifically, before digital scan conversion, obtaining a frame has the ultrasound image data of angle information；With zero angle
Degree is with reference to angle, judges whether the ultrasonoscopy angle information obtained is 0, if 0, without resampling, directly storage figure
As data, and another image data is obtained again and is repeated the above steps；If angle information is not 0, ultrasonoscopy is carried out
Resampling, resampling are exactly to be coordinately transformed the image data with non-zero angle information obtained, make itself and reference angle
Spend the process of image coordinate system having the same；Judge whether store frame number in image data list after obtaining a frame image data
Less than or equal to 3, frame number here refers to that the diagram as data is which width is received by the system and is used for spatial compound imaging
Image and its angle information are stored in list, obtain another image data again by image data if its frame number is less than or equal to 3
And repeat the above steps, otherwise, execute next step.
Secondly, the ultrasound image data acquired in real time is obtained, it is calculated and is swept with identical with it with image data list
The coordinate shift for retouching the image of angle, in the present embodiment, middle calculating coordinate shift includes following methods：Often collect a frame figure
Picture is compared with the ultrasound image data of same scan angle in image list, and obtained according to the moving region of image
The coordinate shift of the two, and enter subsequent step.In the present embodiment, present frame refers to a recently received frame picture number
It is C (i, j), i=0,1 according to, it is assumed that the gray value of the point in present frame C, C, 2...row-1, j=0,1,2...row-1,
Row represents line number, and col represents columns, when the frame number of present frame is more than 3, is found in above-mentioned image data list and current
Frame has the image C&apos of equal angular information;, C is defined as reference frame, C&apos here;It is defined as template frame.To two images data
It does two image subtractions after Gaussian smoothing filter, seeks absolute value, obtain difference image D.Obtaining above-mentioned difference image data
Afterwards, threshold processing is carried out to difference image, removes the influence of noise spot；Amplitude in difference image is less than scheduled first threshold
The point of thr1 is set as 0；I.e. as D (i, j) < thr1, D (i, j)=0.Wherein (i, j) is the point in D.Then again to above-mentioned difference
Non-zero point in partial image is handled.The processing procedure of point non-zero to difference image D is to ask 8 average values around and its ratio R,
When R is less than second threshold thr2, the value of the point in error image is set as 0.The calculation of R is：
Wherein m, n are the coordinate of non-zero point in D.
As R (m, n) < thr2, D (m, n)=0.
Thus obtain the non-zero region of difference image.In the present embodiment, reference frame C opposite formworks frame C'Image fortune
Dynamic region is the non-zero region of difference image D.Assuming that the moving region of C is M, C'Moving region be M', in order to seek two frames
The coordinate shift of image compensates the coordinate of M, then calculates M and M&apos again using iterative method;Mean square deviation, work as mean square deviation
When less than third threshold value thr3, it is considered as two images matching.The compensation rate (▽ I, ▽ J) of coordinate is two field pictures at this time
Coordinate shift.
The specific calculation that coordinate compensation is carried out using iterative method is as follows：
First the row coordinate of M is compensated, it is ▽ λ to select step-length, i.e.,：
M (i+k* ▽ λ, j)=M (i, j)
M (i, j)=M'(i,j)
Wherein i, j ∈ M, k iteration ranges are k=± 1, ± 2, ± 3 ..., ± K.
M images and M&apos after compensating respectively each row coordinate in an iterative process;Image does grey scale mapping, is mapped to two
A row vector indicates the row projection of image, and projecting method is formulated as follows：
Ask M (i) and M'(i) mean square error, formula are as follows：
When Mod is less than certain threshold thr3, iteration stopping.The offset ▽ I that can obtain row coordinate at this time are:
▽ I=k1* ▽ λ, k values when k1 is iteration stopping.
The row coordinate of M is compensated again later, it is ▽ μ to select step-length, i.e.,：
M (i, j+k* ▽ μ)=M (i, j)
M (i, j)=M'(i,j)
Wherein i, j ∈ M, k iteration ranges are k=± 1, ± 2, ± 3 ..., ± K.
M images and M&apos after compensating respectively each row coordinate in an iterative process;Image does grey scale mapping, is mapped to two
A column vector indicates the row projection of image, and projecting method is formulated as follows：
Ask M (j) and M'(j) mean square error, formula are as follows：
When Mod is less than certain threshold thr3, iteration stopping.The offset ▽ J that can obtain row coordinate at this time are:
▽ j=k2* ▽ μ, k values when k2 is iteration stopping.
In this way, having obtained M and M'Best match i.e. C and C'Coordinate shift amount (▽ I, ▽ J) when best match.
Then, according to coordinate shift obtained above, other ultrasound image datas in image data list are mended
It repays；To compensating processing for compound each frame image, the coordinate shift of image can be preferably solved the problems, such as.Profit
The coordinate of image in list is compensated with coordinate shift；Difference by present frame for the 4th frame, to be stored in list at this time
The image of angle is respectively：First frame, the second frame and third frame image.Assuming that first frame image and present frame have same angular
It spends, obtained (▽ I, ▽ J) is the coordinate shift of first frame image and present frame in above-mentioned steps.Assuming that the offset of image
It is that at the uniform velocity, then can extrapolate the second frame image after resampling and third frame image relative to present frame in a short time
Coordinate shift amount be respectively (2/3* ▽ I, 2/3* ▽ J) and (1/3* ▽ I, 1/3* ▽ J).Utilize the second frame of coordinate shift amount pair
Image and third frame image are modified.In other words, it will be stored in coordinate shift amount storage region that present image obtains
Image data number decile, then lagged on direction closest to the maximum rule of current image date compensation rate according on time shaft
Rule compensates the data other than current image date.For example, have 4 image datas in storage region, respectively the 6th frame,
The image data of 7th frame, the 8th frame and the 9th frame, current image date are the 10th frame image data, then use that treated the
10 frame image datas substitute the 6th frame image with above-mentioned 10th frame image data in above-mentioned storage region with same scan angle
Then data are 1/4 to the penalty coefficient of the 9th frame image data in above-mentioned storage region, the compensation to the 8th frame image data
Coefficient is 2/4, and the penalty coefficient to the 7th frame image data is 3/4.In short, the size of storage list is X, present frame is Y
Frame, then it is Y-X to be stored in list, Y- (X-1) ... Y-1 frames, the coefficient that y frames image is needed when coordinate compensates are
(Y-y)/X；The frame stored in list mentioned here is calculated according to the time in fact, and the 1st to X frames is exactly pre-stored
Frame, so the Y of present frame has Y> certainly;This relationship of X, it is compound every time all to be gone to replace Y-X frames with the image data of present frame
Image data, and to Y- (X-1) ... this several frame of Y-1 frames compensate, before y frame image datas are exactly in fact Y frames
Image data in X-1 frames.
Illustrate the side being modified to image using coordinate shift amount with the second frame image C2, for third frame image C3
Method.
For the image pixel value in moving region：
C2 (i, j)=C2 (i+2/3* ▽ I, j+2/3 ▽ J)
C3 (i, j)=C3 (i+1/3* ▽ I, j+1/3 ▽ J)
Wherein i, j ∈ M.
Finally, replace the picture frame stored at first in image data list with present frame, in storage to image data list；
Ultrasound image data after current ultrasonic image data and compensation is handled, combination picture is obtained.I.e. by three in list
Frame image addition, obtains combination picture；To after weighting image divided by 3 be normalized；Combination picture after normalization is done
Digital scan variation output.
In the present embodiment, a kind of device for realizing the above method is further related to, as shown in figure 5, the device includes picture number
According to the compensation of storage unit 1, difference image data acquisition unit 2, coordinate shift acquisition unit 3 and image data and recombiner unit 4；
Wherein, image data memory cell 1 is used to obtain the image data obtained respectively by multiple setting scanning angles, and is stored in and sets
Fixed storage region；Difference image data acquisition unit 2 is used to obtain the current image date of current scan angle, by its with deposit
The multiple images data of storage compare, and find image data identical with current scan angle, by the figure of two same scan angles
As data are compared, its difference image data is obtained；Coordinate shift acquisition unit 3 is used for according to the difference image data,
Obtain the coordinate shift amount of current image date pair image data identical with its scanning angle；Image data compensates and compound list
Memory block of the member 4 for being stored in above-mentioned setting instead of the image data of above-mentioned same scan angle using current image date
Domain is compensated remaining image data using the above-mentioned coordinate shift amount that obtains, and the image data after compensation is stored respectively
In the storage region of above-mentioned setting；Image data in the storage region of the setting is compound, obtain composite image data.
Further, image data memory cell 1 further comprises storing judgment module 11 and image data storage mould
Block 12；Wherein, storage judgment module 11 is used to obtain the image data under current scan angle, in the storage region for judging setting
Whether the image data of storage reaches setting value, if not, calling memory module；If so, calling difference image data acquisition unit；
Image data memory module 12 is used to obtained image data and its scanning angle information storing depositing to the setting together
Storage area domain, and call storage judgment module；And the number for the scanning angle that the setting value is setting；
In addition, difference image data acquisition unit 2 further comprises that difference image data obtains module 21 and threshold processing
Module 22.Difference image data obtains module 21 and is used to obtain the current image date with current scan angle, is set described
Image data identical with the current image date scanning angle is found in fixed storage region, respectively to above-mentioned two figure
Subtract each other after carrying out Gaussian smoothing filtering as data, takes its absolute value, obtain the difference image data of above-mentioned two image data；
Threshold processing module 22 is used to carry out threshold processing to obtained difference image data, removes the influence of noise spot；
Meanwhile coordinate shift acquisition unit 3 further comprises that moving region determining module 31, row coordinate compensation rate obtain mould
Block 32 and row coordinate compensation rate obtain module 33.Moving region determining module 31 is used for the area of non-zero regions by the difference image data
Domain obtains the moving region of the identical scanning angle image data of above-mentioned two；Row coordinate compensation rate obtains module 32 for using
It sets step-length to compensate the moving region of current image date into every trade coordinate, and current after calculating compensation after each compensation
The moving region of image data and with the current image date have same scan angle image data moving region it is equal
Whether variance is less than third threshold value, if not, continuing to execute this step；If so, obtaining the row coordinate shift of current image date
Amount is current line coordinate compensation rate；Row coordinate compensation rate obtains module 33 and is used for using the fortune for setting step-length to current image date
Dynamic region is compensated into ranks coordinate, and calculate after each compensation the current image date after compensation moving region and with it is described
Current image date has whether the mean square deviation of the moving region of the image data at same scan angle is less than third threshold value, such as
It is no, continue to execute this step；If so, the row coordinate shift amount for obtaining current image date is when forefront coordinate compensation rate.
Several embodiments of the invention above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
Cannot the limitation to the scope of the claims of the present invention therefore be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the guarantor of the present invention
Protect range.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of method of complex imaging in ultrasonoscopy, which is characterized in that include the following steps：
A the image data obtained respectively by multiple setting scanning angles) is obtained, and is stored in the storage region of setting；
B) image data obtained under current scan angle is current image date, by multiple figures of current scan angle and storage
As the angle information of data compares, identical with current scan angle, stored image data is found, by two same scans
The image data of angle is compared, and obtains its difference image data；
C) according to the difference image data, the coordinate of current image date pair image data identical with its scanning angle is obtained
Offset；
D the storage region of above-mentioned setting) is stored in instead of the image data of above-mentioned same scan angle using current image date,
Remaining image data are compensated using the above-mentioned product for obtaining coordinate shift amount and setting coefficient, different scanning angle obtains
Image data setting coefficient it is different, and the image data after compensation is respectively stored in the storage region of above-mentioned setting；It will
Image data in the storage region of the setting is compound, obtains composite image data.
2. the method for complex imaging in ultrasonoscopy according to claim 1, which is characterized in that the step A) in, into
One step includes the following steps：
A1 its image data) is obtained under the scanning angle of setting, judges that the image data stored in the storage region of setting is
It is no to reach setting value, if not, executing step A2)；If so, executing step B)；
A2) obtained image data and its scanning angle information are stored to the storage region to the setting together, and return to step
Rapid A1)；
Wherein, the setting value is the number of the scanning angle of setting.
3. the method for complex imaging in ultrasonoscopy according to claim 2, which is characterized in that the step A1) in also
Further comprise, judges whether the scanning angle of the image data is the scanning angle set, if so, being stored in the setting memory block
Domain；Otherwise, to image data progress resampling, after the image data coordinate system having the same for making its scanning angle be zero
It is stored in the setting storage region.
4. the method for complex imaging in ultrasonoscopy according to claim 1, which is characterized in that the step B) further
Include the following steps：
B1) obtain with current scan angle current image date, found in the storage region of the setting with it is described
The identical image data of current image date scanning angle, respectively to phase after above-mentioned two image data progress Gaussian smoothing filter
Subtract, take its absolute value, obtains the difference image data of above-mentioned two image data；
B2 threshold processing) is carried out to obtained difference image data, removes the influence of noise spot.
5. the method for complex imaging in ultrasonoscopy according to claim 4, which is characterized in that the step B2) into one
Step includes the following steps：
B21) point less than the first threshold value of its gray value in the difference image data is set to zero；
B22) by the addition of the gray value of all the points adjacent with the non-zero points obtained in an above-mentioned steps divided by the consecutive points
Quantity, obtain the average value of the consecutive points of the non-zero points, judge the average value whether be less than the second threshold value, if so, should
Non-zero points are set as zero；Otherwise, retain the non-zero points；The each non-zero points obtained in traversal above-mentioned steps, obtain the difference
The non-zero region of sub-image data.
6. the method for complex imaging in ultrasonoscopy according to claim 1, which is characterized in that the step D) in, into
One step includes the following steps：
D1 the motor area of the identical scanning angle image data of above-mentioned two) is obtained by the non-zero region of the difference image data
Domain；
D2 the moving region of current image date is compensated using setting step-length into every trade coordinate), and is calculated after each compensation
The moving region of current image date after compensation and the image data with the current image date with same scan angle
Whether the mean square deviation of moving region is less than third threshold value, if not, continuing to execute this step；If so, obtaining current image date
Row coordinate shift amount be current line coordinate compensation rate；
D3 the moving region of current image date is compensated using setting step-length into ranks coordinate), and is calculated after each compensation
The moving region of current image date after compensation and the image data with the current image date with same scan angle
Whether the mean square deviation of moving region is less than third threshold value, if not, continuing to execute this step；If so, obtaining current image date
Row coordinate shift amount be when forefront coordinate compensation rate.
7. the method for complex imaging in ultrasonoscopy according to claim 6, which is characterized in that the step D2) or D3)
In, respectively to each row or column coordinate compensate after current image date moving region with and the current image date have
Grey scale mapping is done in the moving region of the image data of same scan angle, is mapped to two row vectors or column vector, indicates image
Row projection or row projection；The mean square error of aforementioned row projection or row projection is obtained respectively, when it is less than third threshold value, repeatedly
In generation, stops, and obtains the offset of row coordinate or row coordinate；The offset of the row coordinate or row coordinate is that compensation step-length is multiplied by benefit
Repay number.
8. the method for complex imaging in ultrasonoscopy according to claim 1, which is characterized in that the step D) in, it is right
Remaining image data using it is above-mentioned obtain coordinate shift amount and compensate when, different image datas is multiplied using different coefficients
With the row or column compensation rate, the row or column of its image is compensated.
9. the device of composite imaging method in a kind of ultrasonoscopy, which is characterized in that including：
Image data memory cell：For obtaining the image data obtained respectively by multiple setting scanning angles, and it is stored in and sets
Fixed storage region；
Difference image data acquisition unit：Image data for being obtained under current scan angle is current image date, will be worked as
Preceding scanning angle compared with the angle information of the multiple images data of storage, find it is identical with current scan angle, stored
Image data, the image data of two same scan angles is compared, its difference image data is obtained；
Coordinate shift acquisition unit：For according to the difference image data, obtaining current image date pair and its scanning angle
The coordinate shift amount of identical image data；
Image data compensates and recombiner unit：For using current image date to replace the image data of above-mentioned same scan angle
It is stored in the storage region of above-mentioned setting, the above-mentioned product for obtaining coordinate shift amount and setting coefficient is used to remaining image data
It compensates, the setting coefficient for the image data that different scanning angle obtains is different, and the image data after compensation is deposited respectively
Store up the storage region in above-mentioned setting；Image data in the storage region of the setting is compound, obtain composite image data.
10. device according to claim 9, which is characterized in that described image data storage cell further comprises：
Store judgment module：For obtaining its image data under the scanning angle of setting, judge to deposit in the storage region of setting
Whether the image data of storage reaches setting value, if not, calling memory module；If so, calling difference image data acquisition unit；
Image data memory module：For being stored obtained image data and its scanning angle information together to the setting
Storage region, and call storage judgment module；
Wherein, the setting value is the number of the scanning angle of setting；
The difference image data acquisition unit further comprises：
Difference image data obtains module：For obtaining the current image date with current scan angle, in the setting
Image data identical with the current image date scanning angle is found in storage region, respectively to above-mentioned two picture number
According to subtracting each other after carrying out Gaussian smoothing filter, its absolute value is taken, the difference image data of above-mentioned two image data is obtained；
Threshold processing module：For carrying out threshold processing to obtained difference image data, the influence of noise spot is removed；
The coordinate shift acquisition unit further comprises：
Moving region determining module：For obtaining the identical scan angle of above-mentioned two by the non-zero region of the difference image data
Spend the moving region of image data；
Row coordinate compensation rate obtains module：For using setting step-length to mend the moving region of current image date into every trade coordinate
It repays, and calculates after each compensation the moving region of the current image date after compensation and there is phase with the current image date
Whether the mean square deviation with the moving region of the image data of scan angle is less than third threshold value, if not, continuing to execute this step；Such as
It is to obtain the row coordinate shift amount of current image date as current line coordinate compensation rate；
Row coordinate compensation rate obtains module：For using setting step-length to mend the moving region of current image date into ranks coordinate
It repays, and calculates after each compensation the moving region of the current image date after compensation and there is phase with the current image date
Whether the mean square deviation with the moving region of the image data of scan angle is less than third threshold value, if not, continuing to execute this step；Such as
It is to obtain the row coordinate shift amount of current image date as when forefront coordinate compensation rate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510923863.0A CN105433982B (en) | 2015-12-11 | 2015-12-11 | The method and device of complex imaging in a kind of ultrasonoscopy |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510923863.0A CN105433982B (en) | 2015-12-11 | 2015-12-11 | The method and device of complex imaging in a kind of ultrasonoscopy |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105433982A CN105433982A (en) | 2016-03-30 |
| CN105433982B true CN105433982B (en) | 2018-10-23 |
Family
ID=55544939
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510923863.0A Active CN105433982B (en) | 2015-12-11 | 2015-12-11 | The method and device of complex imaging in a kind of ultrasonoscopy |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105433982B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11953593B2 (en) | 2017-02-10 | 2024-04-09 | Covidien Lp | Systems, methods, and computer readable media for processing and compounding ultrasound images in the presence of motion |
| CN110836649B (en) * | 2019-11-11 | 2021-05-18 | 汕头市超声仪器研究所股份有限公司 | Self-adaptive spatial composite ultrasonic imaging method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2000020886A1 (en) * | 1998-10-01 | 2000-04-13 | Koninklijke Philips Electronics N.V. | Method for correcting blurring of spatially compounded ultrasonic diagnostic images |
| WO2002016963A3 (en) * | 2000-08-22 | 2002-07-25 | Koninkl Philips Electronics Nv | Ultrasonic diagnostic systems with spatial compounded panoramic imaging |
| CN101199430A (en) * | 2006-12-15 | 2008-06-18 | 深圳迈瑞生物医疗电子股份有限公司 | Spatial compound imaging method and equipment and ultrasonic imaging system thereof |
| WO2012013999A1 (en) * | 2010-07-29 | 2012-02-02 | B-K Medical Aps | Motion-compensated processing |
-
2015
- 2015-12-11 CN CN201510923863.0A patent/CN105433982B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2000020886A1 (en) * | 1998-10-01 | 2000-04-13 | Koninklijke Philips Electronics N.V. | Method for correcting blurring of spatially compounded ultrasonic diagnostic images |
| WO2002016963A3 (en) * | 2000-08-22 | 2002-07-25 | Koninkl Philips Electronics Nv | Ultrasonic diagnostic systems with spatial compounded panoramic imaging |
| CN101199430A (en) * | 2006-12-15 | 2008-06-18 | 深圳迈瑞生物医疗电子股份有限公司 | Spatial compound imaging method and equipment and ultrasonic imaging system thereof |
| WO2012013999A1 (en) * | 2010-07-29 | 2012-02-02 | B-K Medical Aps | Motion-compensated processing |
Non-Patent Citations (2)
| Title |
|---|
| 基于DSP的视频稳像技术;袁小平;《大连海事大学学报》;20111130;全文 * |
| 基于梯度投影法的电子稳像算法;齐蕴光;《计 算 机 工 程》;20120331;全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105433982A (en) | 2016-03-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US5299576A (en) | Ultrasonic synthetic aperture diagnostic apparatus | |
| JP5449852B2 (en) | Ultrasonic diagnostic equipment | |
| US20110082372A1 (en) | Ultrasonic apparatus and control method therefor | |
| CN100515334C (en) | Apparatus and method of estimating motion of a target object from a plurality of images | |
| US8606045B2 (en) | Image based registration using transform and second images of a target object | |
| US20150196280A1 (en) | Ultrasound diagnostic apparatus, ultrasound image generating method, and recording medium | |
| US10746873B2 (en) | Motion-compensated ultrasound images | |
| WO2013186676A1 (en) | Suppression of reverberations and/or clutter in ultrasonic imaging systems | |
| US20220079551A1 (en) | Methods and systems for valve regurgitation assessment | |
| JPWO2009063691A1 (en) | Ultrasound imaging system | |
| CN104039235A (en) | Diagnostic ultrasound apparatus | |
| US10786228B2 (en) | Ultrasound diagnostic apparatus, sound velocity determining method, and recording medium | |
| CN105433982B (en) | The method and device of complex imaging in a kind of ultrasonoscopy | |
| US9384568B2 (en) | Method and system for enhanced frame rate upconversion in ultrasound imaging | |
| CN104997533B (en) | Ultrasonic probe geometric parameter auto-correction method and device | |
| US20090204003A1 (en) | Tracking selection for medical diagnostic ultrasound imaging | |
| Mirarkolaei et al. | Frame rate up-conversion in cardiac ultrasound | |
| JP7014044B2 (en) | Ultrasound diagnostic device | |
| CN105979878A (en) | Ultrasonic observation device | |
| US9757091B2 (en) | Ultrasound diagnosis apparatus, medical image-processing apparatus, and method of processing medical images | |
| US10792014B2 (en) | Ultrasound inspection apparatus, signal processing method for ultrasound inspection apparatus, and recording medium | |
| CN108022209A (en) | Acquisition methods and device, the method and apparatus of spatial compound imaging of color value | |
| JP5209184B2 (en) | Ultrasonic diagnostic equipment | |
| Pandey et al. | Preprocessing of freehand ultrasound synthetic aperture measurements using DNN | |
| CN112150370B (en) | Space compound imaging method and device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |