CN107997783B - Self-adaptive ultrasonic beam synthesis method and system based on ultrasonic directionality - Google Patents
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Abstract
The invention discloses a self-adaptive ultrasonic beam synthesis method and a self-adaptive ultrasonic beam synthesis system based on ultrasonic directionality, which can eliminate the influence generated by specular reflection, reduce the complexity of imaging operation and improve the imaging efficiency and the imaging quality. The method comprises the following steps: carrying out ultrasonic emission for multiple times to obtain first channel data; performing first beam forming; sequentially performing signal demodulation, envelope detection, scan conversion and image post-processing on the signals subjected to the first beam forming to generate a first image; extracting image edges to obtain the orientation of the image edges; performing specular reflection identification to obtain spatial position and direction angle information of specular reflection pixels; acquiring second channel data; performing a second beamforming based on the second channel data; and generating a second image for the second time beam-formed signal, and storing or displaying the generated second image.
Description
Technical Field
The invention relates to the technical field of ultrasonic imaging, in particular to a self-adaptive ultrasonic beam synthesis method and system based on ultrasonic directionality.
Background
In a medical ultrasonic imaging system, from the time when an ultrasonic probe emits ultrasonic waves to the time when an image is displayed, the ultrasonic waves are transmitted through a transmitting and receiving circuit, and then are converted from analog signals to digital signals, subjected to beam forming, signal baseband processing, a digital scanning converter, image post-processing and the like. The quality of the beam forming of the ultrasonic imaging system is high and low, and the final imaging effect is influenced in a crucial way. The main processing methods for beamforming the channel data include conventional hardware beamforming and software beamforming developed with the development of general processor capability, and related technologies include electronic focusing and scan line control, apodization, and aperture change. The purpose of either hardware or software beamforming is to obtain an ultrasound beam with good directivity.
The reflection of ultrasonic waves mainly includes diffuse reflection and specular reflection. The diffuse reflection can generate a non-directional and isotropic reflection mode, different directions can easily cancel each other out, and the traditional beam synthesis is based on the assumption of isotropic reflection in both transmission and reception. However, as shown in fig. 1, specular reflection occurs at an interface between different media, and the reflection angle is equal to the incident angle according to the reflection law, and such reflection has strong directivity. Strong directivity due to specular reflection is often suppressed by apodization, which cannot fundamentally eliminate the influence of specular reflection. Thus, interfaces between different media, tissue boundaries, needles, and other locations that cause specular reflections can be very difficult to observe, especially at large incident beam angles.
The traditional approach to address edge blurring is to implement edge enhancement by spatial synthesis and image post-processing. The spatial synthesis needs to perform transmit and receive beam synthesis at a plurality of different angles, the beamformed data is converted into envelope data or image data to perform summation or weighted summation, but the frame rate is reduced by N times by using N directional transmissions, so the number of angles used for spatial synthesis is greatly limited, and is generally only 3 or 5. Meanwhile, the traditional hardware beam synthesis usually lacks flexibility, the receiving angle is limited, a certain frame angle is also usually fixed, the traditional hardware beam synthesis cannot be flexibly applied to all situations, and the influence caused by specular reflection cannot be completely eliminated (unless a plurality of different angles are synthesized), and the edge enhancement mode of the image post-processing is based on the image structure, so that the false edge generated by the artifact is also enhanced while the edge of the tissue structure is enhanced.
The traditional hardware beam forming is limited by circuit design, such as FPGA, and the like, and can not use relatively complex signal processing algorithm to effectively suppress noise and accurately transmit, receive, focus and correct signals of echo signals at the source. In addition, the traditional hardware beam forming needs to predefine a transmitting and receiving delay curve, cannot realize point-by-point focusing of transmitting, and further cannot realize self-adaptive adjustment of beam forming. For the problems of imaging blurring and tissue identification difficulty caused by the fact that ultrasonic waves pass through different media or specular reflection occurs at interfaces with certain angles, the problems can be improved only through space synthesis and image post-processing, or doctors are required to reduce the incidence angle as much as possible when observing from different angles.
The existing related software beam forming technology mainly uses a tracing method of multiple transmissions, channel data obtained by multiple transmissions are stored, then software is used for synthesis (certain weighting is used), a mode of controlling receiving apodization is often adopted for the problem of specular reflection, however, the problems of imaging blurring and difficult tissue identification caused by strong specular reflection generated by different orientations of tissues still cannot be solved, and doctors need to use different cutting angles to observe a blurred region caused by specular reflection during imaging, so that the imaging operation is complex, and the imaging quality and the imaging efficiency are low.
Disclosure of Invention
At least one of the objectives of the present invention is to overcome the above problems in the prior art, and to provide an adaptive ultrasonic beam synthesizing method and system based on ultrasonic directionality, which can eliminate the influence caused by specular reflection, so that the ultrasonic imaging is no longer influenced by the specular reflection of the tissue, the complexity of the imaging operation is reduced, and the imaging efficiency and the imaging quality are improved.
In order to achieve the above object, the present invention adopts the following aspects.
An adaptive ultrasound beamforming method based on ultrasound directionality, comprising:
carrying out multiple ultrasonic wave emission, and acquiring first channel data according to the corresponding multiple echo signals; performing first beam forming on the acquired first channel data; sequentially performing signal demodulation, envelope detection, scan conversion and image post-processing on the signals subjected to the first beam forming to generate a first image;
when the first image needs to be refined, extracting the image edge of the first image to obtain the orientation of the image edge; performing specular reflection identification based on the orientation of the image edge to acquire spatial position and direction angle information of specular reflection pixels; according to the spatial position and the direction angle information of the mirror reflection pixel, self-adaptive apodization and time delay calculation are carried out on the first channel data, and second channel data are obtained;
performing a second beamforming based on the second channel data; and sequentially performing signal demodulation, envelope detection, scan conversion and image post-processing on the signals subjected to the second beam forming to generate a second image, and storing or displaying the generated second image.
Preferably, the spatial position of the focal point of each or a portion of the plurality of ultrasonic emissions is an arbitrary position on the target tissue.
Preferably, the first beam synthesis is performed by performing channel data beam synthesis based on the properties of the current probe array element and the apodization and delay determined by the applied tissue region.
Preferably, the performing image edge extraction and acquiring the orientation of the image edge includes: and performing spatial multi-scale image analysis by adopting Laplacian pyramid or wavelet pyramid transformation, and identifying the orientation of the image edge on a preset scale through a structural matrix.
Preferably, the apodization comprises: and apodizing the first channel data according to one or more of the apodization functions such as Hamming function, Hanning function, Blackman function and the like.
Preferably, the second beamforming comprises: and selecting a plurality of channel data corresponding to pixels with different direction angles and a plurality of spatial positions adjacent to the spatial position of the specular reflection pixel and corresponding time delays to carry out retrospective method emission point-by-point focusing, and acquiring a secondary beam synthesis signal.
Preferably, the pixels adjacent to the spatial position of the specular reflection pixel but with different direction angles refer to pixels where the reflected beam intersects with the surface of the probe array element; the number of the selected plurality of channel data is less than one half of the number of transmissions.
Preferably, the method further comprises: and storing apodization and time delay adopted when the second channel data is acquired as prior information.
Preferably, the first beamforming comprises: and acquiring prior information, and performing first beam forming according to apodization and time delay in the prior information.
An adaptive ultrasonic beam synthesis system based on ultrasonic directionality performs any one of the above methods by including a probe array element, a beam synthesizer, an echo signal processor, a scan converter, an image processor, an image quality evaluation module, an image edge extraction module, a specular reflection identification module, an emission setting module, a memory, and a display.
In summary, due to the adoption of the technical scheme, the invention at least has the following beneficial effects:
by calculating the spatial direction angle information of each position, the adaptive beam forming is carried out on the specular reflection by utilizing channel data, so that the influence generated by the specular reflection is eliminated, the emission and receiving direction angles of the actual orientation of each pixel can be freely met, namely, the beam forming can be adaptive to the position orientations of different tissues, for example, the myocardium always has a certain angle with the incident wave and the angles of different positions are different.
Drawings
Fig. 1 is a schematic view of different angles of incidence.
Fig. 2 is a flowchart of an adaptive ultrasonic beam synthesis method based on ultrasonic directionality according to an embodiment of the present invention.
FIG. 3 is a schematic diagram of an apodization center according to an embodiment of the invention.
Fig. 4 is a flowchart of an adaptive ultrasonic beam synthesis method based on ultrasonic directionality according to another embodiment of the present invention.
Fig. 5 is a schematic structural diagram of an adaptive ultrasound beamforming system based on ultrasound directionality according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and embodiments, so that the objects, technical solutions and advantages of the present invention will be more clearly understood. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
According to the beam forming method and system provided by the embodiment of the invention, the spatial direction angle information of each position is calculated, and the adaptive beam forming is carried out on the specular reflection by utilizing the channel data, so that the influence generated by the specular reflection is eliminated, the ultrasonic imaging cannot be observed due to the influence of the specular reflection of the tissue, a doctor does not need to observe the blurring caused by the specular reflection by using different incision angles, and the imaging operation of the doctor is greatly simplified.
Fig. 2 shows a flowchart of an adaptive ultrasound beamforming method based on ultrasound directionality according to an embodiment of the present invention. Some or all of the following steps may be executed separately or in parallel, and the step numbers are only used for identifying the steps and are not used for limiting the execution order and/or the execution times of the steps.
Step 101: performing multiple ultrasonic wave emission, and acquiring first channel data according to corresponding multiple echo signals
For example, a certain number of probe array elements can be arranged in the ultrasonic imaging system to transmit ultrasonic waves at different spatial positions and angles for a plurality of times according to different application configurations. The method is different from the traditional ultrasonic imaging system that the focus point during transmitting generally needs to select the region of interest of the user, and the transmitted focus point can be set at will, and the spatial position of the focus point can be selected at will on the target tissue because the transmitted focus point is focused point by adopting a retrospective method. However, it may be preferred that the user is interested in the area. And, an amplitude excitation signal may be applied to each array element according to the first apodization function when transmitting the ultrasonic waves.
For example, for M channels, L samples per channel, L M samples may be obtained from one echo signal. The channel data includes sampling data of echo signals received by each channel after each transmission, for example, N transmissions, M channels, each channel receiving L sampling points, and N × M × L sampling data is obtained by one frame of scanning. The maximum channel number M does not exceed the channel number of the array element of the probe, and the value from 1 to the channel number of the probe can be selected according to application, preferably the full channel is used. The number of sampling points L is determined by the system sampling rate FsSpeed of sound C and scan depth d, i.e. L2 dFsC, different systems may also have some scan switching delay, e.g. system samplingThe rate was 60MHz, the scan depth was 10cm, the speed of sound was 1540m/s, and L was about 7790 points regardless of the system delay.
Step 102: performing first beam forming on the acquired first channel data
For the first beamforming of each frame of image, conventional software beamforming may be adopted based on default settings of the current frame (e.g., apodization and time delay determined according to the attributes of the current probe array element and the applied tissue region), that is, beamforming may be directly performed on the sampled data of the echo signals corresponding to the transmissions at a plurality of different angles without prior information.
In other embodiments, the first beamforming may also perform channel data beamforming based on the a priori information of the azimuth of the mirror and the corresponding delay, which will be described in detail later with reference to other embodiments. Moreover, the first beamforming method of each frame (based on the default setting of the current frame or the prior information of the previous frame) is engineering-selectable, and beamforming methods of different application scenarios can be considered based on the tissue structure motion situation, for example, for ultrasound imaging of tissues with large motion, such as heart, liver, blood vessel, etc., the first beamforming method can be based on the default setting of the current frame, and for tissues with small motion, such as breast, kidney, prostate, thyroid, etc., the prior information of the previous frame image, that is, apodization and time delay adopted in generating the second beamforming of the previous frame image.
For the signal of the first beam forming in step 102, signal demodulation in step 103, envelope detection in step 104, scan conversion in step 105, and image post-processing in step 106 are sequentially performed to generate a first image.
Step 107: when the first image needs to be refined (for example, when a preset refining processing condition is met), image edge extraction is carried out on the first image, and the orientation of the image edge is acquired
Wherein the preset refining treatment conditions comprise: firstly, a user can set a current working mode on a system as a refinement mode, and in this case, the system is equivalent to the refinement of each frame; secondly, the system automatically detects the current imaging quality, performs imaging quality estimation, for example, calculates the signal-to-noise ratio (SNR) of the orthogonal signal, the signal-to-noise ratio and the edge retention of the image, and automatically enters when the imaging quality is too low.
In particular, the orientation of the image edges can be identified on a preset scale (e.g., a 3 × 3 to 15 × 15 structural matrix) by the structural matrix using spatial multi-scale image analysis. The spatial multiscale analysis may use, among others, an image pyramid transform, such as a laplacian pyramid or a wavelet pyramid, and preferably a wavelet pyramid transform.
Step 108: performing specular reflection identification based on the orientation of the image edge to obtain spatial position and direction angle information of specular reflection pixels
Based on the different characteristics of the pixels, which are reflected by the specular reflection and the diffuse reflection, the direction angle of the specular reflection pixels (i.e. the incident angle of the ultrasonic wave emitted by the probe to the tissue interface, known from the law of specular reflection, the reflection angle is equal to the incident angle) can be identified. In the step, instead of directly analyzing the channel data (it is difficult to effectively extract the direction angle of the interface on the channel data), the information of the direction angle and the spatial position of the specular reflection pixel on the specular reflection interface is obtained by extracting the information of the image obtained after the first beam forming.
Step 109: according to the spatial position and the direction angle information of the mirror reflection pixel, the self-adaptive apodization and the time delay calculation are carried out on the first channel data to obtain the second channel data
Wherein apodizing includes apodizing the first channel data according to a second apodization function. The first apodization function and the second apodization function may be the same apodization function, or may be different apodization functions, such as one or more of Hamming function, Hanning function, Blackman function, and the like.
The computation of the apodization center position can be done using the law of reflection based on the direction angle from the previous step. As shown in fig. 3, the apodization center position is a position intersecting the normal direction of the tissue interface. Fig. 3 shows an example of a linear array probe, and in other embodiments, the apodization center calculation can be performed by using the same method for probes in any shape such as convex array, phased array, cavity, four-dimensional, rectum, and the like.
The time delay calculation method can adopt a retrospective method to transmit point-by-point focusing time delay calculation, and respectively calculate corresponding time delay according to the space position corresponding to each mirror reflection pixel.
Step 102: second beamforming based on second channel data
Specifically, for each pixel identified to generate specular reflection, selecting a plurality of channel data and corresponding time delays corresponding to a plurality of pixels with different direction angles and spatial positions adjacent to the spatial position of the pixel from the second channel data, performing retrospective emission point-by-point focusing, and acquiring a second-time beam synthesis signal.
The pixel adjacent to the spatial position of the pixel but with different direction angles refers to a pixel where the reflected beam intersects with the plane of the probe array element (e.g., the plane or curved surface of the array element). That is, the channel data participating in the second beam synthesis can be selected by calculating whether the reflected beam intersects with the probe array element surface, for example, the reflected beam participates in synthesis when intersecting, and does not participate in synthesis when not intersecting.
The number of the selected channels of data may be preset to a threshold value (generally less than N/2, where N is the number of transmissions). The number of transmission times N corresponds to the number of lines of the echo signal, and therefore the theoretically optimal number of transmission times is equal to the imaging width (the maximum imaging width of the probe) divided by the ultrasonic beam width. In practical applications, the optimal number of transmissions is multiplied by a reference-dependent constant, and the preferred range of the number of transmissions in the application of the embodiment of the present invention is, for example, 100 to 512.
And (3) sequentially executing signal demodulation in step 103, envelope detection in step 104, scan conversion in step 105 and image post-processing in step 106 on the second-time beam-forming signal acquired in step 102 to generate a second image.
Step 111: when the second image does not require refinement (for example, when a preset refinement processing condition is not satisfied), the acquired image is output
For example, the output image may be stored or displayed. Since the channel data obtained by multiple transmissions in the vicinity of the steering angle is used for synthesis, the problem of image degradation such as edge blurring caused by specular reflection can be eliminated.
The above embodiments describe an embodiment of how to generate an image of one frame through a plurality of steps, and in various applications, the above steps may be further repeated to generate a plurality of images, and the apodization and delay imposed by generating an image of a previous frame may be applied in the image generation of a subsequent frame. Fig. 4 shows a flowchart of an adaptive ultrasound beamforming method based on ultrasound directionality according to another embodiment of the present invention. It differs from the method of the previous embodiment in that in imaging applications for less moving tissues such as breast, kidney, prostate, thyroid, etc., after step 109 is performed, the apodization function and time delay used in step 109 are stored separately in system memory and set as a priori information.
Before the first beam forming of the next frame image is performed in step 102, step 110 is further included, in which the apodization function and the time delay in the prior information are obtained from the system memory. And, when performing the first beamforming on the first channel data in step 102, performing the first beamforming according to the apodization and the time delay in the prior information. In addition, in the preferred embodiment, a retrospective transmit point-to-point focusing may be used for the first beamforming.
Fig. 5 is a schematic structural diagram of an adaptive ultrasonic beam synthesis system based on ultrasonic directionality according to another embodiment of the present invention, which includes a probe array element, a beam synthesizer, an echo signal processor, a scan converter, an image processor, an image quality evaluation module, an image edge extraction module, a specular reflection identification module, an emission setting module, a memory, and a display, which are connected in sequence.
The probe array element is used for transmitting ultrasonic waves and receiving corresponding echo signals; the beam synthesizer is used for performing beam synthesis on the channel data; the echo signal processor is used for carrying out signal demodulation and envelope detection on the beam forming signals; the scanning converter is used for acquiring image data according to the demodulation signal and the envelope; the image processor is used for carrying out image post-processing to generate a frame of image.
The image quality evaluation module is used for carrying out quality evaluation on the generated image, sending the image with the resolution reaching the preset requirement to the memory for storage or sending the image to the display for display, sending the image with the resolution not reaching the preset requirement to the image edge extraction module for image edge extraction, and obtaining the orientation of the image edge. The specular reflection identification module is configured to perform specular reflection identification based on the orientation of the image edges, and acquire spatial position and direction angle information of specular reflection pixels. The emission setting module is configured to set an emission direction angle according to the spatial position and direction angle information of the specular reflection pixel, and perform ultrasonic emission a plurality of times.
The foregoing is merely a detailed description of specific embodiments of the invention and is not intended to limit the invention. Various alterations, modifications and improvements will occur to those skilled in the art without departing from the spirit and scope of the invention.
Claims (7)
1. An adaptive ultrasound beamforming method based on ultrasound directionality, the method comprising:
carrying out multiple ultrasonic wave emission, and acquiring first channel data according to the corresponding multiple echo signals; performing first beam forming on the acquired first channel data; sequentially performing signal demodulation, envelope detection, scan conversion and image post-processing on the signals subjected to the first beam forming to generate a first image;
when the first image needs to be refined, extracting the image edge of the first image to obtain the orientation of the image edge; performing specular reflection identification based on the orientation of the image edge to acquire spatial position and direction angle information of specular reflection pixels; according to the spatial position and the direction angle information of the mirror reflection pixel, self-adaptive apodization and time delay calculation are carried out on the first channel data, and second channel data are obtained;
performing a second beamforming based on the second channel data; sequentially performing signal demodulation, envelope detection, scan conversion and image post-processing on the signals subjected to the second beam forming to generate a second image, and storing or displaying the generated second image;
the second beamforming comprises: selecting a plurality of channel data and corresponding time delays corresponding to a plurality of pixels with different direction angles and adjacent space positions and space positions of the mirror reflection pixels to carry out retrospective method emission point-by-point focusing, and acquiring a second-time beam synthesis signal;
the method further comprises: apodization and time delay adopted when the second channel data are obtained are stored as prior information;
the first beamforming comprises: and acquiring prior mirror surface direction angle information and corresponding time delay, and performing first beam synthesis according to apodization and time delay in the prior mirror surface direction angle information.
2. The method of claim 1, wherein the spatial location of the focal point of each or a portion of the plurality of ultrasound transmissions is anywhere on the target tissue.
3. The method of claim 1, wherein the first beamforming is performed by beamforming channel data based on the properties of the current probe array element and apodization and time delays determined by the applied tissue region.
4. The method of claim 1, wherein the performing image edge extraction and obtaining the orientation of the image edge comprises: and performing spatial multi-scale image analysis by adopting Laplacian pyramid or wavelet pyramid transformation, and identifying the orientation of the image edge on a preset scale through a structural matrix.
5. The method of claim 1, wherein the apodizing comprises: and apodizing the first channel data according to one or more of the apodization functions such as Hamming function, Hanning function, Blackman function and the like.
6. The method of claim 1, wherein pixels adjacent to the spatial position of the specular reflection pixel but with different azimuth angles refer to pixels where the reflected beam intersects the plane of the probe array elements;
the number of the selected plurality of channel data is less than one half of the number of transmissions.
7. An adaptive ultrasound beamforming system based on ultrasound directionality, characterized in that the system performs the method of any one of claims 1 to 6 by its included probe array elements, a beam combiner, an echo signal processor, a scan converter, an image processor, an image quality evaluation module, an image edge extraction module, a specular reflection identification module, an emission setting module, a memory, and a display.
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