CN108030514B - Ultrasonic three-dimensional fetal imaging method and system - Google Patents
Ultrasonic three-dimensional fetal imaging method and system Download PDFInfo
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- CN108030514B CN108030514B CN201711311286.5A CN201711311286A CN108030514B CN 108030514 B CN108030514 B CN 108030514B CN 201711311286 A CN201711311286 A CN 201711311286A CN 108030514 B CN108030514 B CN 108030514B
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- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
- A61B8/0866—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving foetal diagnosis; pre-natal or peri-natal diagnosis of the baby
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- A—HUMAN NECESSITIES
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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- A61B8/52—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves
Abstract
The invention provides an ultrasonic three-dimensional fetal imaging method and system, wherein the method comprises the following steps: acquiring three-dimensional volume data of a tissue to be detected; acquiring a corresponding scanning surface and a critical threshold according to the scanning surface; scanning each data line in the effective area of the scanning surface in a column direction, and acquiring a corresponding effective data section according to the gray level change of each data line and a critical threshold value; performing binarization processing on the scanned surface according to a critical threshold value to extract a surface contour line of the fetal region; correcting the effective data segment in the row direction of each data line of the scanning surface according to the surface contour line, acquiring at most one effective data segment corresponding to each data line, and expressing the effective data segment by using a critical data segment on each data line; obtaining a critical point corresponding to each scanning surface according to the critical data segment; and generating a curved surface according to the obtained critical points so as to perform three-dimensional rendering to form an output image. The invention can improve the detection rate of the face and the structure of the fetus, reduce the interactive operation between medical personnel and a machine and improve the working efficiency.
Description
Technical Field
The invention belongs to the field of medical ultrasonic diagnosis imaging, and particularly relates to an ultrasonic three-dimensional fetal imaging method and system.
Background
A traditional B-type ultrasonic imaging system provides a two-dimensional image of a certain section of a tissue to be detected, and a clinician needs to reconstruct a three-dimensional structure in a brain according to the past experience; three-dimensional ultrasound imaging is typically done based on two-dimensional images, i.e. reconstructing a three-dimensional image from a set of two-dimensional images; the three-dimensional imaging can directly display the structure of the fetus or the visceral organ, so that the observation and clinical diagnosis become more intuitive.
In the process of tissue three-dimensional imaging, particularly ultrasonic fetal imaging, the face or the morphological structure of a fetus is easily shielded, which is caused by a maternal placenta, a uterine wall and the like; in order to clearly and intuitively display the three-dimensional structure of the fetus, the fetus needs to be cut and separated from the maternal structure. In a traditional three-dimensional ultrasonic fetal imaging system, a clinician is required to interactively select an ROI rectangular frame and a curve frame to exclude tissues such as embryos, uterine walls and the like; this method is time consuming and the ROI rectangle only excludes non-fetal tissue on the current scan plane and does not guarantee that the fetus is cut out on other slices.
Further, chinese patent publication No. CN 105976394 a, name: a cutting method for adaptively adjusting three-dimensional ultrasonic data of a fetus provides an automatic cutting method, which comprises the steps of firstly, carrying out image segmentation by using a graph-cut theory to extract an amniotic fluid region, and then searching out an optimal path between two points through the amniotic fluid region by using a minimum segmentation method, wherein the path segments the fetus; however, the success rate of the method is closely related to the image segmentation effect, and only the fetus region cutting of a single section is realized to replace the manual interaction of the curve ROI, and the fetus region cutting in the whole three-dimensional ultrasonic data cannot be realized.
Disclosure of Invention
The invention aims to provide an ultrasonic three-dimensional fetal imaging method and system.
In order to achieve one of the above objects, an ultrasonic three-dimensional fetal imaging method according to an embodiment of the present invention includes:
s1, acquiring three-dimensional volume data of the tissue to be detected, wherein the tissue to be detected comprises: a fetal region, an amniotic fluid region, and an occluding tissue region;
s2, acquiring a scanning surface of the tissue to be detected and critical thresholds of a fetal region and an amniotic fluid region according to the three-dimensional volume data of the tissue to be detected, wherein the scanning surface comprises: coronal and sagittal planes;
s3, scanning each data line in the effective area of the scanning surface in the column direction, and acquiring an effective data segment corresponding to each data line in the column direction according to the gray scale change of each data line and the critical threshold;
carrying out binarization processing on the scanned surface according to the critical threshold value, and extracting the surface contour line of the fetal region according to the binarization processing result;
s4, correcting the effective data segments in the row direction of each data line of the scanning surface according to the surface contour line, acquiring at most one effective data segment corresponding to each data line, and expressing the effective data segment by the critical data segment on each data line;
s5, obtaining a critical point corresponding to each scanning surface according to the critical data segment;
and S6, generating a curved surface according to the obtained critical points to perform three-dimensional rendering to form an output image.
As a further improvement of an embodiment of the present invention, the step S2 specifically includes:
and extracting the critical threshold of the fetal region and the amniotic fluid region by one of a maximum inter-class variance method, a Bayes segmentation method and a maximum entropy threshold extraction algorithm according to the three-dimensional volume data of the tissue to be detected.
As a further improvement of an embodiment of the present invention, in step S3, the "scanning each data line in the effective area of the scanning surface in the column direction, and acquiring an effective data segment corresponding to each data line in the column direction according to the gray scale change of each data line and the critical threshold" specifically includes:
s311, scanning each data line in the scanning surface effective area in a column direction to obtain a corresponding gray scale change curve, and obtaining a temporary effective data section corresponding to each data line according to the critical threshold;
s312, acquiring a corresponding gray level histogram according to the three-dimensional volume data of the tissue to be detected, acquiring an accumulative distribution function according to the gray level histogram, and coarsely positioning each boundary point SP of the fetal region according to the accumulative distribution function;
and S313, combining the effective data segment corresponding to each data line and each boundary point SP of the fetal region, reserving a temporary effective data segment between the starting point of each data line and the corresponding boundary point SP, and representing the temporary effective data segment by the effective data segment corresponding to the current data line.
As a further improvement of an embodiment of the present invention, in step S3, "performing binarization processing on the scanned surface according to the critical threshold, and extracting a surface contour line of the fetal region according to a binarization processing result" specifically includes:
s321, performing binarization processing on the scanned surface according to the critical threshold value to obtain a corresponding binary image;
s322, outlining the binary image area to form a plurality of outlograms with closed areas;
and S323, scanning each data line in the effective area of the profile in a column direction, and reserving an entry point of the profile to form a surface contour line of the fetal area corresponding to the current scanning plane, wherein the surface contour line of the fetal area is displayed in the fetal surface map.
As a further improvement of an embodiment of the present invention, the step S4 specifically includes:
s41, setting an initial weight value for each surface contour line, wherein the initial weight values are 0;
s42, finding the end point of each data line corresponding to the effective data segment, confirming the surface contour line of the end point, and accumulating the weight values of the corresponding surface contour lines by 1 to obtain the surface contour line with the maximum weight value;
s43, scanning each data line in turn, judging whether the end point corresponding to the effective data segment on the current data line is on the surface contour line with the maximum weight value,
if yes, keeping the current effective data segment, and representing the current effective data segment by the critical data segment on each data line;
if not, discarding the current valid data segment.
As a further improvement of an embodiment of the present invention, the step S5 specifically includes: and taking the middle point or the end point of each critical data segment as the critical point of the corresponding scanning surface.
To achieve the above object, another embodiment of the present invention provides an ultrasonic three-dimensional fetal imaging system, including:
the data acquisition module is used for acquiring three-dimensional volume data of a tissue to be detected, and the tissue to be detected comprises: a fetal region, an amniotic fluid region, and an occluding tissue region;
the critical threshold processing module is used for acquiring a scanning surface of the tissue to be detected and critical thresholds of a fetal region and an amniotic fluid region according to the three-dimensional volume data of the tissue to be detected, wherein the scanning surface comprises: coronal and sagittal planes;
the effective data segment processing module is used for scanning each data line in the effective area of the scanning surface in the column direction and acquiring an effective data segment corresponding to each data line in the column direction according to the gray level change of each data line and the critical threshold;
the contour line processing module is used for carrying out binarization processing on the scanned surface according to the critical threshold value and extracting the surface contour line of the fetal region according to the binarization processing result;
the critical data processing module is used for correcting the effective data segments in the row direction of each data line of the scanning surface according to the surface contour line, acquiring at most one effective data segment corresponding to each data line, and expressing the effective data segments by the critical data segments on each data line;
and the rendering output module is used for obtaining the critical point corresponding to each scanning surface according to the critical data segment and generating a curved surface according to the obtained critical point so as to perform three-dimensional rendering to form an output image.
As a further improvement of an embodiment of the present invention, the critical threshold processing module is specifically configured to: and extracting the critical threshold of the fetal region and the amniotic fluid region by one of a maximum inter-class variance method, a Bayes segmentation method and a maximum entropy threshold extraction algorithm according to the three-dimensional volume data of the tissue to be detected.
As a further improvement of an embodiment of the present invention, the valid data segment processing module is specifically configured to: scanning each data line in the scanning surface effective area in a column direction to obtain a corresponding gray scale change curve, and obtaining a temporary effective data section corresponding to each data line according to the critical threshold;
acquiring a corresponding gray level histogram according to three-dimensional volume data of a tissue to be detected, acquiring an accumulative distribution function according to the gray level histogram, and coarsely positioning each boundary point SP of a fetal region according to the accumulative distribution function;
and combining the effective data segment corresponding to each data line and each boundary point SP of the fetal region, reserving a temporary effective data segment between the starting point of each data line and the corresponding boundary point SP, and representing the temporary effective data segment by the effective data segment corresponding to the current data line.
As a further improvement of an embodiment of the present invention, the contour line processing module is specifically configured to: carrying out binarization processing on the scanned surface according to the critical threshold value to obtain a binary image corresponding to the scanned surface;
outlining the binary image area to form a plurality of outlograms with closed areas;
and scanning each data line in the effective area of the profile in a column direction, and reserving the entry point of the profile to form a fetal surface map of the fetal area corresponding to the current scanning plane, wherein the surface contour line of the fetal area is displayed in the fetal surface map.
As a further improvement of an embodiment of the present invention, the critical data processing module is specifically configured to: setting an initial weight value for each surface contour line, wherein the initial weight value is 0;
searching the end point of each data line corresponding to the effective data segment, confirming the surface contour line of the end point, accumulating the weight value of the corresponding surface contour line by 1, and obtaining the surface contour line with the maximum weight value;
scanning each data line in sequence, judging whether an end point corresponding to an effective data section on the current data line is positioned on a surface contour line with the maximum weight value or not, if so, retaining the current effective data section, and expressing the current effective data section by using a critical data section on each data line; if not, discarding the current valid data segment.
As a further improvement of an embodiment of the present invention, the rendering output module is specifically configured to: and taking the middle point or the end point of each critical data segment as the critical point of the corresponding scanning surface.
Compared with the prior art, the invention has the beneficial effects that: according to the ultrasonic three-dimensional fetus imaging method and system, shielding tissues such as placenta and the like in a shielding fetus area can be automatically removed according to the three-dimensional volume data of the three-dimensional ultrasonic fetus, so that the three-dimensional fetus can be clearly and visually displayed, the detection rate of the face part and the structure of the fetus is improved, meanwhile, the interactive operation of medical personnel and a machine is reduced, and the working efficiency is improved.
Drawings
Fig. 1 is a schematic flow chart of an ultrasonic three-dimensional fetal imaging method according to an embodiment of the present invention.
FIGS. 2, 3, and 4 are flow diagrams of specific implementations of one of the steps in FIG. 1, respectively;
FIG. 5 is a schematic view of a scan of a tissue under test according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a specific example of a step in the method of ultrasound three-dimensional fetal imaging applied in the present invention;
FIG. 7 is a graph of the change in gray scale corresponding to FIG. 6;
fig. 8 is a schematic structural diagram of a specific example of another step in the method of ultrasonic three-dimensional fetal imaging according to the present invention;
fig. 9 is a block diagram of an ultrasonic three-dimensional fetal imaging system in an embodiment of the invention.
Detailed Description
The present invention will be described in detail below with reference to specific embodiments shown in the drawings. These embodiments are not intended to limit the present invention, and structural, methodological, or functional changes made by those skilled in the art according to these embodiments are included in the scope of the present invention.
As shown in fig. 1, according to an embodiment of the present invention, there is provided an ultrasonic three-dimensional fetal imaging method, including:
s1, acquiring three-dimensional volume data of the tissue to be detected, wherein the tissue to be detected comprises: a fetal region, an amniotic fluid region, and an occluding tissue region; in the specific implementation mode of the invention, the pregnant woman can be scanned by the volume probe to obtain the three-dimensional volume data of the tissue to be detected.
S2, acquiring a scanning surface of the tissue to be detected and critical thresholds of a fetal region and an amniotic fluid region according to the three-dimensional volume data of the tissue to be detected, wherein the scanning surface comprises: coronal and sagittal planes; with reference to fig. 5, the three-dimensional volume data is visually displayed, and for different display angles, the scanning planes of the tissue to be detected may respectively include: a plurality of coronal, sagittal, and transverse planes; in a specific example of the present invention, as shown in fig. 5, a coronal plane, a sagittal plane and a transverse plane respectively corresponding to the tissue to be measured are sequentially arranged from left to right; it should be noted that, in the following operation, the present application only processes the coronal plane and the sagittal plane corresponding to the tissue to be measured, which will be described in detail below.
The step S2 is mainly used for acquiring a critical point of the fetal region and the amniotic fluid region; the position relation between the fetus and maternal tissues such as the placenta and the uterine wall can be visually displayed in a coronal plane and a sagittal plane of the three-dimensional volume data, and the tissues which can shield the fetus when the placenta, the uterine wall and the like are displayed in a rendering mode are called as shielded tissue areas; usually, the fetal region and the occlusion tissue are in the amniotic fluid region, and belong to a hypoechoic region, which is displayed as low gray in the ultrasound image.
According to the method, a fetal area and an amniotic fluid area are distinguished in a mode of setting a threshold; specifically, the step S2 specifically includes: according to the three-dimensional volume data of the tissue to be detected, extracting the critical threshold of the fetal region and the amniotic fluid region by one of a maximum inter-class variance method, a Bayes segmentation method, a maximum entropy threshold extraction algorithm and the like, and expressing the critical threshold by TH. After the separation by the method, the three-dimensional voxels can be divided into two types, one is an amniotic fluid region with low gray level and other hypoechoic regions, and the other is a medium and high echoic region which corresponds to a fetal region and a tissue shielding region.
Further, the method further comprises: s3, scanning each data line in the effective area of the scanning surface in the column direction, and acquiring an effective data segment corresponding to each data line in the column direction according to the gray scale change of each data line and the critical threshold; and carrying out binarization processing on the scanned surface according to the critical threshold value, and extracting the surface contour line of the fetal region according to the binarization processing result.
In a preferred embodiment of the present invention, as shown in fig. 2, the step S3, the "scanning each data line in the effective area of the scanning surface in the column direction, and acquiring the effective data segment corresponding to each data line in the column direction according to the gray scale change of each data line and the critical threshold" specifically includes:
s311, scanning each data line in the scanning surface effective area in a column direction to obtain a corresponding gray scale change curve, and obtaining a temporary effective data section corresponding to each data line according to the critical threshold; wherein, the current data line is denoted by PQ, the temporary valid data segment corresponding to it is denoted by P1Q1, P2Q2, … …, PNQN, P, Q respectively denote the start and end of the valid data segment; for convenience of description, referring to fig. 6, a data line in a coronal plane of a tissue under test of the present invention is specifically introduced as an example; in this example, the vertical lines in the figure represent the column-wise scan lines of the current column, which are within the active area of the coronal plane; referring to fig. 7, the curve in fig. 7 is a gray scale variation curve corresponding to the current row in fig. 6, and the horizontal line is a critical threshold dividing line obtained from the three-dimensional volume data of the tissue to be measured, in this embodiment, there are 3 temporary valid data segments below TH in the gray scale variation curve, which are respectively designated as P1Q1, P2Q2, and P3Q 3.
In the coronal plane, a bright gray area often exists in a fetal area adjacent to an amniotic fluid area, which is caused by a high echo area such as a fetal head skull; correspondingly, the fetal surface position SP can be roughly positioned by positioning the highlight area, the selection range of the PQ area can be narrowed after the SP is positioned, namely a temporary effective data section between the initial point of the scanning line and the SP is reserved, and an effective data section for carrying out the next data analysis is formed.
Accordingly, the step S3 further includes: s312, acquiring a corresponding gray level histogram according to the three-dimensional volume data of the tissue to be detected, acquiring an accumulative distribution function according to the gray level histogram, and roughly positioning each boundary point SP of the fetal region according to the accumulative distribution function. Continuing with the example shown in fig. 6 and 7, obtaining a gray histogram according to the three-dimensional volume data, and analyzing the gray histogram to obtain a cumulative distribution function f (x) corresponding to the gray value of each voxel point; the number of voxel points is typically 256, which are represented by 0-255 integer values, respectively; firstly, obtaining a fetal surface position SP through a cumulative distribution function F (x) corresponding to the gray value of each voxel point; specifically, the gray value SG at SP satisfies the following condition:
Further, S313, combining the valid data segment corresponding to each data line and each boundary point SP of the fetal region, reserving a temporary valid data segment between the starting point of each data line and its corresponding boundary point SP, and representing it as the valid data segment corresponding to the current data line PQ. Continuing the example, traversing the temporary effective data segment corresponding to the current scanning line, and determining the learned effective data segment according to the position of the SP;
in particular, the method comprises the following steps of,
wherein, Gray (-) represents the Gray value of the current prime point, and Gray (-) 1 represents the Gray value of the previous prime point adjacent to the current prime point. Continuing with the above example, after step S33, the temporary valid data segments P1Q1, P2Q2 and P3Q3 are filtered, and only two segments, P1Q1 and P2Q2, are left and expressed as valid data segments.
With reference to fig. 3, in step S3, the binarizing the scanned surface according to the critical threshold, and the extracting the surface contour line of the fetal region according to the binarizing result specifically includes: s321, performing binarization processing on the scanned surface according to the critical threshold value to obtain a corresponding binary image; s322, outlining the binary image area to form a plurality of outlograms with closed areas; and S323, scanning each data line in the effective area of the profile in a column direction, and reserving entry points of the profile to form a fetal surface map corresponding to the current scanning plane, wherein the surface contour line of the fetal area is displayed in the fetal surface map.
Specifically, since the fetal surface contour line is also adjacent to the amniotic fluid region, the critical point of each point on the fetal surface contour line in the column direction should also be in the amniotic fluid region, and therefore, the extracted fetal surface contour line may be a surface contour line of the fetal face or fetal structure, as shown in fig. 8, which is a binary image, a contour image and a fetal surface image corresponding to the current coronal plane sequentially from left to right. In the present embodiment, the fetal surface contour lines extracted according to the critical threshold TH are respectively denoted by C1, C2, C3, … and Cm, and the marks are not specifically shown in fig. 8.
It can be understood that the order of acquiring the valid data segment and the surface contour line may be specifically specified according to the requirement, and any one of the valid data segment and the surface contour line may be processed in advance, or may be processed simultaneously, which is not described in detail herein.
The effective data segment is a boundary area of a bright gray area and a dark gray area based on a critical threshold value, and the effective data segment may exist between a fetal area and a shielding tissue area; in order to obtain more accurate data for three-dimensional rendering, the fetal surface contour lines are also obtained based on the same critical threshold TH; as such, in a specific embodiment of the present invention, the method further comprises: and S4, correcting the effective data segments in the row direction of each data line of the scanning surface according to the surface contour line, acquiring at most one effective data segment corresponding to each data line, and expressing the effective data segment by the critical data segment on each data line.
In a preferred embodiment of the present invention, as shown in fig. 4, the step S4 specifically includes: s41, the surface contour lines to be obtained are respectively denoted by C1, C2, C3, …, and Cm, and an initial weight value, which is 0, is set for each surface contour line. Continuing with the above example, assume that the surface contour lines of the fetal regions obtained in the above example are 3, C1, C2, and C3; then W (C1) is 0, W (C2) is 0, and W (C3) is 0.
S42, finding the end point Q of each data line corresponding to the corresponding effective data segment, confirming the surface contour line of the end point Q, and accumulating the weight values of the corresponding surface contour lines by 1 to obtain the surface contour line with the maximum weight value. Continuing with the above example, after the valid data lines on all the data lines are counted, the weighted values of C1, C2 and C3 are obtained through accumulation respectively; for example: the end point Q1 of P1Q1 is at C2, then the result of W (C2) is added with 1, and so on; in the specific embodiment of the invention, after statistics, we know W (C2) > W (C1) > W (C3); then the surface contour line with the largest weight value is C2 in this example.
S43, scanning each data line in sequence, judging whether an end point corresponding to an effective data segment on the current data line is on a surface contour line with the maximum weight value, if so, retaining the current effective data segment, and expressing the current effective data segment by a critical data segment on each data line; if not, the current effective data segment is abandoned, and the next data line is continuously scanned. Continuing with the above example, for the current data line, the obtained valid data lines are 2, P1Q1 and P2Q 2; the surface contour line with the greatest weight value is C2; by further comparison, whether the end points of P1Q1 and P2Q2 are on the surface contour line C2 is judged, if yes, the end points are retained, and if not, the end points are discarded. It can be understood that the effective data lines are longitudinal line segments, and the surface contour lines are line segments tending to the transverse direction, so that for each data scanning line, at most one effective data segment corresponding to each data line is only acquired, and for convenience of description, the critical data segment of the effective data segment on each data line acquired in the step is represented; for this example, when Q1 is on C2, then segment P1Q1 is chosen; when Q2 is at C2, then segment P2Q2 is selected; when neither Q1 nor Q2 is on C2, discarding all PQ segments; in this embodiment, Q1 is represented by a critical data segment, i.e., a P1Q1 segment on C2.
Further, the method further comprises: and S5, obtaining the corresponding critical point of each scanning surface according to the critical data segment.
In a preferred embodiment of the present invention, the step S5 specifically includes: and taking the middle point or the end point of each critical data segment as the critical point of the corresponding scanning surface. In a specific embodiment of the present invention, the midpoint of each critical data segment is used as the critical point of the corresponding scan plane. The critical point S may be expressed as: s ═ P + Q)/2.
Of course, in other embodiments of the present invention, the starting point and the ending point of the critical data segment may be calculated in a manner of weighting, etc. to obtain the final critical point, which is not described in detail herein. It should be noted that, in the above example, only one row-wise data line of one of the coronal planes corresponding to the tissue to be measured is taken as an example for specific description, and the scanning and processing manners of the other coronal planes or sagittal planes are the same as those of the coronal plane or sagittal plane; in practical application, the coronal plane and the sagittal plane can be processed sequentially or simultaneously; it can be understood that the more data is processed, the more accurate the final result is, and details are not described herein.
Further, the method further comprises: and S6, generating a curved surface according to the obtained critical points to perform three-dimensional rendering to form an output image.
The obtained critical points are voxel points in an amniotic fluid area separating a shielding tissue area and a fetal area, a curved surface is reconstructed according to the critical points to cut out the fetus, the generation modes of the curved surface are also various, and the protection point of the invention is the acquisition of the critical points, so the generation of the curved surface is not described in detail.
Further, the curved surface is used for separating the tissue shielding region from the fetal region, correspondingly, the data between the curved surface and the probe scanning contact surface are completely emptied, and the rest data are subjected to three-dimensional light perspective rendering to form an output image, wherein the rendering modes are various and are not described in detail.
Referring to fig. 9, an embodiment of the present invention provides an ultrasonic three-dimensional fetal imaging system, including: the data processing device comprises a data acquisition module 100, a critical threshold processing module 200, an effective data segment processing module 300, an outline processing module 400, a critical data processing module 500 and a rendering output module 600.
The data acquisition module 100 is configured to acquire three-dimensional volume data of a tissue to be measured, where the tissue to be measured includes: a fetal region, an amniotic fluid region, and an occluding tissue region; in the specific implementation mode of the invention, the pregnant woman can be scanned by the volume probe to obtain the three-dimensional volume data of the tissue to be detected.
The critical threshold processing module 200 is configured to obtain a scanning surface of a tissue to be detected and critical thresholds of a fetal region and an amniotic fluid region according to three-dimensional volume data of the tissue to be detected, where the scanning surface includes: coronal and sagittal planes; with reference to fig. 5, the three-dimensional volume data is visually displayed, and for different display angles, the scanning planes of the tissue to be detected may respectively include: a plurality of coronal, sagittal, and transverse planes; in a specific example of the present invention, as shown in fig. 5, a coronal plane, a sagittal plane and a transverse plane respectively corresponding to the tissue to be measured are sequentially arranged from left to right; it should be noted that, in the following operation, the present application only processes the coronal plane and the sagittal plane corresponding to the tissue to be measured, which will be described in detail below.
The critical threshold processing module 200 is mainly used for acquiring critical points of a fetal region and an amniotic fluid region; the position relation between the fetus and maternal tissues such as the placenta and the uterine wall can be visually displayed in a coronal plane and a sagittal plane of the three-dimensional volume data, and the tissues which can shield the fetus when the placenta, the uterine wall and the like are displayed in a rendering mode are called as shielded tissue areas; usually, the fetal region and the occlusion tissue are in the amniotic fluid region, and belong to a hypoechoic region, which is displayed as low gray in the ultrasound image.
According to the method, a fetal area and an amniotic fluid area are distinguished in a mode of setting a threshold; specifically, the critical threshold processing module 200 is specifically configured to extract a critical threshold of the fetal region and the amniotic fluid region according to the three-dimensional volume data of the tissue to be detected by one of a maximum inter-class variance method, a bayesian segmentation method, a maximum entropy threshold extraction algorithm, and the like, and the critical threshold is represented by TH. After the separation by the method, the three-dimensional voxels can be divided into two types, one is an amniotic fluid region with low gray level and other hypoechoic regions, and the other is a medium and high echoic region which corresponds to a fetal region and a tissue shielding region.
The effective data segment processing module 300 is configured to scan each data line in the effective area of the scanning surface in a column direction, and obtain an effective data segment corresponding to each data line in the column direction according to the gray scale change of each data line and the critical threshold; the contour line processing module 400 performs binarization processing on the scanned surface according to the critical threshold value, and extracts the surface contour line of the fetal region according to the binarization processing result.
In a preferred embodiment of the present invention, the valid data segment processing module 300 is specifically configured to scan each data line in the effective area of the scanning surface in a column direction, obtain a corresponding gray scale change curve, and obtain a temporary valid data segment corresponding to each data line according to the critical threshold; wherein, the current data line is denoted by PQ, the temporary valid data segment corresponding to it is denoted by P1Q1, P2Q2, … …, PNQN, P, Q respectively denote the start and end of the valid data segment; for convenience of description, referring to fig. 6, a data line in a coronal plane of a tissue under test of the present invention is specifically introduced as an example; in this example, the vertical lines in the figure represent the column-wise scan lines of the current column, which are within the active area of the coronal plane; referring to fig. 7, the curve in fig. 7 is a gray scale variation curve corresponding to the current row in fig. 6, and the horizontal line is a critical threshold dividing line obtained from the three-dimensional volume data of the tissue to be measured, in this embodiment, there are 3 temporary valid data segments below TH in the gray scale variation curve, which are respectively designated as P1Q1, P2Q2, and P3Q 3.
In the coronal plane, a bright gray area often exists in a fetal area adjacent to an amniotic fluid area, which is caused by a high echo area such as a fetal head skull; correspondingly, the fetal surface position SP can be roughly positioned by positioning the highlight area, the selection range of the PQ area can be narrowed after the SP is positioned, namely a temporary effective data section between the initial point of the scanning line and the SP is reserved, and an effective data section for carrying out the next data analysis is formed.
Correspondingly, the valid data segment processing module 300 is further configured to obtain a corresponding gray level histogram according to the three-dimensional volume data of the tissue to be detected, obtain an accumulated distribution function according to the gray level histogram, and coarsely locate each boundary point SP of the fetal region according to the accumulated distribution function. Continuing with the example shown in fig. 6 and 7, the effective data segment processing module 300 obtains a gray histogram according to the three-dimensional volume data, and analyzes the gray histogram to obtain a cumulative distribution function f (x) corresponding to the gray value of each voxel point; the number of voxel points is typically 256, which are represented by 0-255 integer values, respectively; firstly, obtaining a fetal surface position SP through a cumulative distribution function F (x) corresponding to the gray value of each voxel point; specifically, the gray value SG at SP satisfies the following condition:
Further, the valid data segment processing module 300 is further configured to combine the valid data segment corresponding to each data line and each boundary point SP of the fetal region, reserve a temporary valid data segment between the starting point of each data line and its corresponding boundary point SP, and represent the temporary valid data segment with the valid data segment corresponding to the current data line PQ. Continuing the example, traversing the temporary effective data segment corresponding to the current scanning line, and determining the learned effective data segment according to the position of the SP;
in particular, the method comprises the following steps of,
wherein, Gray (-) represents the Gray value of the current prime point, and Gray (-) 1 represents the Gray value of the previous prime point adjacent to the current prime point. In this example, after the temporary valid data segments P1Q1, P2Q2 and P3Q3 are screened, only two segments, P1Q1 and P2Q2, are left and expressed as valid data segments.
The contour line processing module 400 is specifically configured to: carrying out binarization processing on the scanned surface according to the critical threshold value to obtain a binary image corresponding to the scanned surface; outlining the binary image area to form a plurality of outlograms with closed areas; and scanning each data line in the effective area of the profile in the column direction, and reserving entry points of the profile to form a fetal surface map corresponding to the current scanning plane, wherein the surface contour lines of the fetal area are displayed in the fetal surface map.
Specifically, since the fetal surface contour line is also adjacent to the amniotic fluid region, the critical point of each point on the fetal surface contour line in the column direction should also be in the amniotic fluid region, and therefore, the extracted fetal surface contour line may be a surface contour line of the fetal face or fetal structure, as shown in fig. 8, which is a binary image, a contour image and a fetal surface image corresponding to the current coronal plane sequentially from left to right. In this embodiment, the contour lines of the fetal surface extracted by the contour line processing module 400 according to the critical threshold TH are respectively denoted by C1, C2, C3, … and Cm, and the labels are not specifically shown in fig. 8.
It can be understood that the order of acquiring the valid data segment and the surface contour line by the contour line processing module 400 may be specifically designated as required, and any one of the valid data segment and the surface contour line may be processed in advance or simultaneously, which is not described in detail herein.
The effective data segment is a boundary area of a bright gray area and a dark gray area based on a critical threshold value, and the effective data segment may exist between a fetal area and a shielding tissue area; in order to obtain more accurate data for three-dimensional rendering, the fetal surface contour lines are also obtained based on the same critical threshold TH; thus, in the embodiment of the present invention, the critical data processing module 500 is configured to correct the valid data segments in the column direction of each data line of the scanned surface according to the surface contour, and obtain at most one valid data segment corresponding to each data line, which is represented by the critical data segment on each data line.
In a preferred embodiment of the present invention, the critical data processing module 500 is specifically configured to represent the obtained surface contour lines by C1, C2, C3, …, and Cm, respectively, and set an initial weight value, which is 0, to each surface contour line. Continuing with the above example, assume that the surface contour lines of the fetal regions obtained in the above example are 3, C1, C2, and C3; then W (C1) is 0, W (C2) is 0, and W (C3) is 0.
The critical data processing module 500 is further configured to: and searching an end point Q of each data line corresponding to the effective data segment, confirming the surface contour line of the end point Q, and accumulating the weight values of the corresponding surface contour lines by 1 to obtain the surface contour line with the maximum weight value. Continuing with the above example, after the valid data lines on all the data lines are counted, the weighted values of C1, C2 and C3 are obtained through accumulation respectively; for example: the end point Q1 of P1Q1 is at C2, then the result of W (C2) is added with 1, and so on; in the specific embodiment of the invention, after statistics, we know W (C2) > W (C1) > W (C3); then the surface contour line with the largest weight value is C2 in this example.
The critical data processing module 500 is further configured to: scanning each data line in sequence, judging whether an end point corresponding to an effective data section on the current data line is positioned on a surface contour line with the maximum weight value or not, if so, retaining the current effective data section, and expressing the current effective data section by using a critical data section on each data line; if not, the current effective data segment is abandoned, and the next data line is continuously scanned. Continuing with the above example, for the current data line, the obtained valid data lines are 2, P1Q1 and P2Q 2; the surface contour line with the greatest weight value is C2; by further comparison, whether the end points of P1Q1 and P2Q2 are on the surface contour line C2 is judged, if yes, the end points are retained, and if not, the end points are discarded. It can be understood that the effective data lines are longitudinal line segments, and the surface contour lines are line segments tending to the transverse direction, so that for each data scanning line, at most one effective data segment corresponding to each data line is only acquired, and for convenience of description, the critical data segment of the effective data segment on each data line acquired in the step is represented; for this example, when Q1 is on C2, then segment P1Q1 is chosen; when Q2 is at C2, then segment P2Q2 is selected; when neither Q1 nor Q2 is on C2, discarding all PQ segments; in this embodiment, Q1 is represented by a critical data segment, i.e., a P1Q1 segment on C2.
The rendering output module 600 is configured to obtain a critical point corresponding to each scanned surface according to the critical data segment. In a preferred embodiment of the present invention, the rendering output module 600 is specifically configured to use a middle point or an end point of each critical data segment as a critical point of the corresponding scanned surface.
In a specific embodiment of the present invention, the midpoint of each critical data segment is used as the critical point of the corresponding scan plane. The critical point S may be expressed as: s ═ P + Q)/2.
Of course, in other embodiments of the present invention, the rendering output module 600 may also perform calculation such as weighting on the start point and the end point of the critical data segment to obtain the final critical point, which is not described in detail herein.
It should be noted that, in the above example, only one row-wise data line of one of the coronal planes corresponding to the tissue to be measured is taken as an example for specific description, and the scanning and processing manners of the other coronal planes or sagittal planes are the same as those of the coronal plane or sagittal plane; in practical application, the coronal plane and the sagittal plane can be processed sequentially or simultaneously; it can be understood that the more data is processed, the more accurate the final result is, and details are not described herein.
Further, the rendering output module 600 is further configured to generate a curved surface according to the obtained critical point, so as to perform three-dimensional rendering to form an output image.
The obtained critical points are voxel points in an amniotic fluid area separating a shielding tissue area and a fetal area, a curved surface is reconstructed according to the critical points to cut out the fetus, the generation modes of the curved surface are also various, and the protection point of the invention is the acquisition of the critical points, so the generation of the curved surface is not described in detail.
Further, the curved surface is used for separating the tissue shielding region from the fetal region, correspondingly, the data between the curved surface and the probe scanning contact surface are completely emptied, and the rest data are subjected to three-dimensional light perspective rendering to form an output image, wherein the rendering modes are various and are not described in detail.
In summary, the ultrasonic three-dimensional fetus imaging method and system provided by the invention can automatically clear the shielding tissues such as placenta in the shielding fetus area aiming at the three-dimensional volume data of the three-dimensional ultrasonic fetus, so that the three-dimensional fetus can be clearly and intuitively displayed, the detection rate of the fetus face and the fetus structure is improved, meanwhile, the interactive operation of medical staff and a machine is reduced, and the working efficiency is improved.
For convenience of description, the above devices are described as being divided into various modules by functions, and are described separately. Of course, the functionality of the various modules may be implemented in the same one or more software and/or hardware implementations of the invention.
The above-described embodiments of the apparatus are merely illustrative, and the modules described as separate parts may or may not be physically separate, and the parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
It should be understood that although the present description refers to embodiments, not every embodiment contains only a single technical solution, and such description is for clarity only, and those skilled in the art should make the description as a whole, and the technical solutions in the embodiments can also be combined appropriately to form other embodiments understood by those skilled in the art.
The above-listed detailed description is only a specific description of a possible embodiment of the present invention, and they are not intended to limit the scope of the present invention, and equivalent embodiments or modifications made without departing from the technical spirit of the present invention should be included in the scope of the present invention.
Claims (10)
1. A method of ultrasonic three-dimensional fetal imaging, the method comprising:
s1, acquiring three-dimensional volume data of the tissue to be detected, wherein the tissue to be detected comprises: a fetal region, an amniotic fluid region, and an occluding tissue region;
s2, acquiring a scanning surface of the tissue to be detected and critical thresholds of a fetal region and an amniotic fluid region according to the three-dimensional volume data of the tissue to be detected, wherein the scanning surface comprises: coronal and sagittal planes;
s3, scanning each data line in the effective area of the scanning surface in the column direction, and acquiring an effective data segment corresponding to each data line in the column direction according to the gray scale change of each data line and the critical threshold;
carrying out binarization processing on the scanned surface according to the critical threshold value, and extracting the surface contour line of the fetal region according to the binarization processing result;
s4, correcting the effective data segments in the row direction of each data line of the scanning surface according to the surface contour line, acquiring at most one effective data segment corresponding to each data line, and expressing the effective data segment by the critical data segment on each data line;
s5, obtaining a critical point corresponding to each scanning surface according to the critical data segment;
s6, generating a curved surface according to the obtained critical points to perform three-dimensional rendering to form an output image;
in step S3, the "scanning each data line in the effective area of the scanning surface in the column direction, and obtaining an effective data segment corresponding to each data line in the column direction according to the gray scale change of each data line and the critical threshold" specifically includes:
s311, scanning each data line in the scanning surface effective area in a column direction to obtain a corresponding gray scale change curve, and obtaining a temporary effective data section corresponding to each data line according to the critical threshold;
s312, acquiring a corresponding gray level histogram according to the three-dimensional volume data of the tissue to be detected, acquiring an accumulative distribution function according to the gray level histogram, and coarsely positioning each boundary point SP of the fetal region according to the accumulative distribution function;
and S313, combining the effective data segment corresponding to each data line and each boundary point SP of the fetal region, reserving a temporary effective data segment between the starting point of each data line and the corresponding boundary point SP, and representing the temporary effective data segment by the effective data segment corresponding to the current data line.
2. The ultrasonic three-dimensional fetal imaging method of claim 1, wherein the step S2 specifically comprises:
and extracting the critical threshold of the fetal region and the amniotic fluid region by one of a maximum inter-class variance method, a Bayes segmentation method and a maximum entropy threshold extraction algorithm according to the three-dimensional volume data of the tissue to be detected.
3. The ultrasonic three-dimensional fetal imaging method according to claim 1, wherein the step S3 of "binarizing the scanned surface according to the critical threshold value and extracting the surface contour line of the fetal region according to the binarization processing result" specifically comprises:
s321, performing binarization processing on the scanned surface according to the critical threshold value to obtain a corresponding binary image;
s322, outlining the binary image area to form a plurality of outlograms with closed areas;
and S323, scanning each data line in the effective area of the profile in a column direction, and reserving an entry point of the profile to form a surface contour line of the fetal area corresponding to the current scanning plane, wherein the surface contour line of the fetal area is displayed in the fetal surface map.
4. The ultrasonic three-dimensional fetal imaging method of claim 1, wherein the step S4 specifically comprises:
s41, setting an initial weight value for each surface contour line, wherein the initial weight values are 0;
s42, finding the end point of each data line corresponding to the effective data segment, confirming the surface contour line of the end point, and accumulating the weight values of the corresponding surface contour lines by 1 to obtain the surface contour line with the maximum weight value;
s43, scanning each data line in turn, judging whether the end point corresponding to the effective data segment on the current data line is on the surface contour line with the maximum weight value,
if yes, keeping the current effective data segment, and representing the current effective data segment by the critical data segment on each data line;
if not, discarding the current valid data segment.
5. The ultrasonic three-dimensional fetal imaging method of claim 1, wherein the step S5 specifically comprises:
and taking the middle point or the end point of each critical data segment as the critical point of the corresponding scanning surface.
6. An ultrasonic three-dimensional fetal imaging system, the system comprising:
the data acquisition module is used for acquiring three-dimensional volume data of a tissue to be detected, and the tissue to be detected comprises: a fetal region, an amniotic fluid region, and an occluding tissue region;
the critical threshold processing module is used for acquiring a scanning surface of the tissue to be detected and critical thresholds of a fetal region and an amniotic fluid region according to the three-dimensional volume data of the tissue to be detected, wherein the scanning surface comprises: coronal and sagittal planes;
the effective data segment processing module is used for scanning each data line in the effective area of the scanning surface in the column direction and acquiring an effective data segment corresponding to each data line in the column direction according to the gray level change of each data line and the critical threshold;
the contour line processing module is used for carrying out binarization processing on the scanned surface according to the critical threshold value and extracting the surface contour line of the fetal region according to the binarization processing result;
the critical data processing module is used for correcting the effective data segments in the row direction of each data line of the scanning surface according to the surface contour line, acquiring at most one effective data segment corresponding to each data line, and expressing the effective data segments by the critical data segments on each data line;
the rendering output module is used for obtaining a critical point corresponding to each scanning surface according to the critical data segment and generating a curved surface according to the obtained critical points so as to perform three-dimensional rendering to form an output image;
the valid data segment processing module is specifically configured to: scanning each data line in the scanning surface effective area in a column direction to obtain a corresponding gray scale change curve, and obtaining a temporary effective data section corresponding to each data line according to the critical threshold;
acquiring a corresponding gray level histogram according to three-dimensional volume data of a tissue to be detected, acquiring an accumulative distribution function according to the gray level histogram, and coarsely positioning each boundary point SP of a fetal region according to the accumulative distribution function;
and combining the effective data segment corresponding to each data line and each boundary point SP of the fetal region, reserving a temporary effective data segment between the starting point of each data line and the corresponding boundary point SP, and representing the temporary effective data segment by the effective data segment corresponding to the current data line.
7. The ultrasonic three-dimensional fetal imaging system of claim 6,
the critical threshold processing module is specifically configured to: and extracting the critical threshold of the fetal region and the amniotic fluid region by one of a maximum inter-class variance method, a Bayes segmentation method and a maximum entropy threshold extraction algorithm according to the three-dimensional volume data of the tissue to be detected.
8. The ultrasonic three-dimensional fetal imaging system of claim 6,
the contour line processing module is specifically configured to: carrying out binarization processing on the scanned surface according to the critical threshold value to obtain a binary image corresponding to the scanned surface;
outlining the binary image area to form a plurality of outlograms with closed areas;
and scanning each data line in the effective area of the profile in a column direction, and reserving the entry point of the profile to form a fetal surface map of the fetal area corresponding to the current scanning plane, wherein the surface contour line of the fetal area is displayed in the fetal surface map.
9. The ultrasonic three-dimensional fetal imaging system of claim 6,
the critical data processing module is specifically configured to: setting an initial weight value for each surface contour line, wherein the initial weight value is 0;
searching the end point of each data line corresponding to the effective data segment, confirming the surface contour line of the end point, accumulating the weight value of the corresponding surface contour line by 1, and obtaining the surface contour line with the maximum weight value;
scanning each data line in turn, judging whether the end point corresponding to the effective data segment on the current data line is positioned on the surface contour line with the maximum weight value,
if yes, keeping the current effective data segment, and representing the current effective data segment by the critical data segment on each data line;
if not, discarding the current valid data segment.
10. The ultrasonic three-dimensional fetal imaging system of claim 6,
the rendering output module is specifically configured to: and taking the middle point or the end point of each critical data segment as the critical point of the corresponding scanning surface.
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