CN108992084B - Method for imaging by using combination of CT system and ultrasonic system and CT-ultrasonic inspection equipment - Google Patents
Method for imaging by using combination of CT system and ultrasonic system and CT-ultrasonic inspection equipment Download PDFInfo
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Abstract
The invention relates to the technical field of medical equipment, and particularly discloses a method for imaging by using a CT system and an ultrasonic system and CT-ultrasonic inspection equipment. The invention designs a CT image reconstruction and fusion system taking ultrasonic real-time synchronous observation as an auxiliary imaging technology by utilizing the complementarity of ultrasonic imaging and CT imaging. The invention can solve the problem that the CT system causes inconsistent imaging information and detected object state information due to asynchronous detection of human soft tissues.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to a method for imaging by using a CT system and an ultrasonic system and CT-ultrasonic examination equipment.
Background
With the continuous development of medical imaging, medical imaging techniques are widely used for clinical judgment and treatment. Common medical imaging devices are CT systems and ultrasound systems.
CT (Computed Tomography) systems generally have good imaging effects on hard tissues of the human body, but when detecting soft tissues which are easy to deform, the problem of inconsistent reconstructed images and object state information is easy to occur, so that the reconstructed images have various defects such as low image resolution.
The ultrasonic system can realize real-time synchronous observation, has the advantages of low cost, no damage, no radiation, high repeatability and sensitivity and the like, has great advantages when detecting soft tissues which are easy to deform, but has inferior imaging effect on hard tissues compared with a CT system.
Thus, there is a need for a method that enables combined imaging of a CT system and an ultrasound system, with complementary advantages.
Disclosure of Invention
It is an object of the present invention to provide a method of imaging using a combination of a CT system and an ultrasound system that enables the combined imaging of the CT system and the ultrasound system with complementary advantages.
It is another object of the present invention to provide a CT-ultrasound examination apparatus that enables combined imaging of a CT system and an ultrasound system with complementary advantages.
To achieve the above object, in one aspect, the present invention provides a method for combined imaging using a CT system and an ultrasound system, comprising:
s10: parameter calibration is carried out:
placing a CT calibration model on the central axis of an inspection bed, scanning and imaging the CT calibration model by using a CT system to obtain a reconstructed image of the CT system, and adjusting the detection range of the CT system to enable the center of the reconstructed image of the CT system to fall on the central axis;
establishing a CT world coordinate system of the CT system, so that a Z axis of the CT world coordinate system coincides with the central axis;
establishing a proportional relation between the section size of the object to be detected and the reconstructed image of the CT system according to the relation between the CT world coordinates of the CT calibration model and the reconstructed image size of the CT system;
moving the inspection bed by a specified distance along the straight line direction of the central axis;
placing an ultrasonic calibration model on the central axis of an examination bed, scanning and imaging the ultrasonic calibration model by using an ultrasonic system to obtain a real-time image of the ultrasonic system, and adjusting the detection range of the ultrasonic system to enable the center of the real-time image of the ultrasonic system to fall on the central axis;
establishing an ultrasonic world coordinate system of the ultrasonic system, so that a Z axis of the ultrasonic world coordinate system coincides with the central axis;
adjusting the proportional relation between the size of the section of the object to be detected and the real-time image of the ultrasonic system to enable the images formed by the ultrasonic system and the CT system on the same section to correspond to each other;
s20: imaging using a CT system in combination with an ultrasound system:
scanning and imaging the object to be detected by using a CT system to obtain a reconstructed image of the object to be detected;
moving the object to be detected along the direction of the straight line where the central axis is located along with the inspection bed by the specified distance;
scanning imaging the object to be detected by using an ultrasonic system to obtain a real-time image of the object to be detected;
and fusing the reconstructed image of the object to be detected with the real-time image of the object to be detected, so as to obtain a fused image.
Preferably, the step of establishing a proportional relationship between the cross-sectional size of the object to be measured and the reconstructed image of the CT system according to the relationship between the CT world coordinates of the CT calibration model and the reconstructed image size of the CT system includes:
acquiring CT world coordinates (x 1 ，y 1 ，z)；
The method comprises the steps of obtaining a reconstructed image of a CT system and proportional coefficients u and v of the section size of an object to be detected;
defining a first combined coordinate of a reconstructed image of the CT system as g 1 (μ·x 1 ，υ·y 1 ，z)。
Preferably, defining the specified distance as L, and the step of adjusting a proportional relationship between the size of the cross section of the object to be measured and the real-time image of the ultrasound system so that the images formed by the ultrasound system and the CT system for the same cross section correspond to each other includes:
acquiring ultrasonic world coordinates (x) of the ultrasonic calibration model 2 ，y 2 ，z+L)；
The real-time image of the ultrasonic system and the section size of the object to be measured are set to be i and j according to (mu.x) 1 ，υ·y 1 )＝(i·x 2 ，j·y 2 ) Calculating to obtain values of i and j;
defining a second combined coordinate of the real-time image of the ultrasound system as g 2 (i·x 2 ，j·y 2 ，z+L)。
In another aspect, the present invention provides a CT-ultrasound examination apparatus for performing any of the methods described above, comprising:
a fixed base;
the inspection bed is positioned above the fixed base and is in sliding connection with the fixed base along the straight line direction of the central axis of the inspection bed;
a CT system at one end of the couch, the CT system comprising an X-ray source and a detector, the CT system further comprising:
a CT detection range adjustment module for adjusting the detection range of the CT system and enabling the center of the reconstructed image of the CT system to fall on the central axis;
the CT world coordinate system establishing module is used for establishing a CT world coordinate system with a Z axis coincident with the central axis;
the CT proportional relation determining module is connected with the CT world coordinate system establishing module and is used for establishing the proportional relation between the section size of the object to be detected and the reconstructed image of the CT system according to the relation between the CT world coordinate of the CT calibration model and the reconstructed image size of the CT system;
an ultrasound system, the ultrasound system being at the specified distance from the CT system, the ultrasound system comprising:
an ultrasonic detection range adjustment module for adjusting the detection range of the ultrasonic system and enabling the center of the real-time image of the ultrasonic system to fall on the central axis;
the ultrasonic world coordinate system establishing module is used for establishing an ultrasonic world coordinate system with a Z axis coincident with the central axis;
the ultrasonic proportional relation determining module is respectively connected with the ultrasonic world coordinate system establishing module and the CT proportional relation determining module and is used for adjusting the proportional relation between the size of the section of the object to be detected and the real-time image of the ultrasonic system so that the images formed by the ultrasonic system and the CT system on the same section correspond to each other;
and the image synthesis module is respectively connected with the CT system and the ultrasonic system and is used for fusing the reconstructed image of the object to be detected obtained by the CT system with the real-time image of the object to be detected obtained by the ultrasonic system to obtain a fused image.
Preferably, the CT scaling relationship determination module includes:
the CT world coordinate acquisition module is used for acquiring CT world coordinates (x 1 ，y 1 ，z)；
The CT proportionality coefficient obtaining module is connected with the CT world coordinate obtaining module and is used for obtaining the proportionality coefficients u and v of the reconstructed image of the CT system and the section size of the object to be detected;
the first combined coordinate definition module is respectively connected with the CT world coordinate acquisition module and the CT proportionality coefficient solving module and is used for defining the first combined coordinate of the object to be detected as g 1 (μ·x 1 ，υ·y 1 ，z)。
Preferably, the ultrasonic proportionality relation determining module comprises:
an ultrasonic world coordinate acquisition module for acquiring ultrasonic world coordinates (x 2 ，y 2 ，z+L)；
The ultrasonic scaling factor obtaining module is connected with the ultrasonic world coordinate obtaining module and is used for enabling the scaling factors of the real-time image of the ultrasonic system and the section size of the object to be measured to be i and j and according to (mu.x) 1 ，υ·y 1 )＝(i·x 2 ，j·y 2 ) Calculating to obtain values of i and j;
the second combined coordinate definition module is respectively connected with the ultrasonic world coordinate acquisition module and the ultrasonic proportionality coefficient calculation module and is used for defining the second combined coordinate of the object to be detected as g 2 (i·x 2 ，j·y 2 ，z+L)。
The invention has the beneficial effects that: the CT system and the ultrasonic system are used for mutually corresponding to the image formed by the same section, so that the reconstructed image of the object to be detected obtained by the CT system and the real-time image of the object to be detected obtained by the ultrasonic system are effectively overlapped to obtain a fusion image.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained from these drawings without inventive faculty for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a CT-ultrasound inspection apparatus according to an embodiment of the present invention.
In the figure:
1. a fixed base; 2. an inspection bed; 3. a central axis; 4. a CT system; 5. an ultrasound system.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is apparent that the embodiments described below are only some embodiments of the present invention, not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it will be understood that when one component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present. When an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present.
Furthermore, the terms "long," "short," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship based on that shown in the drawings, for convenience of description of the present invention, and are not intended to indicate or imply that the apparatus or elements referred to must have this particular orientation, operate in a particular orientation configuration, and thus should not be construed as limiting the invention.
The technical scheme of the invention is further described below by the specific embodiments with reference to the accompanying drawings.
The present embodiments provide a method of imaging using a CT system in combination with an ultrasound system and a CT-ultrasound examination apparatus for performing the method.
As shown in fig. 1, the CT-ultrasound examination apparatus includes a stationary base 1, an examination couch 2, a CT system 4, an ultrasound system 5, and an image synthesis module. The examination bed 2 is positioned above the fixed base 1 and is in sliding connection with the fixed base 1 along the straight line direction of the central axis 3 of the examination bed 2, the CT system 4 is positioned at one end of the examination bed 2, and the distance between the ultrasonic system 5 and the CT system 4 is a designated distance L. Specifically, the central axis 3 of the couch 2 refers specifically to a central line of the couch 2 parallel to the longitudinal direction of the couch 2. The image synthesis module is respectively connected with the CT system 4 and the ultrasonic system 5 and is used for fusing the reconstructed image of the object to be detected obtained by the CT system 4 with the real-time image of the object to be detected obtained by the ultrasonic system 5 to obtain a fused image.
In the present embodiment, the method of imaging using a CT system in combination with an ultrasound system includes steps S10-S20.
S10: and (5) parameter calibration is carried out.
Specifically, the main purpose of the parameter calibration step is to make the ultrasound system 5 and the CT system 4 correspond to each other (including the same size, corresponding position, etc.) to the image formed by the same section, and after the CT-ultrasound apparatus is installed, only the parameter calibration needs to be performed before the first use, once the parameter calibration is completed, and the subsequent reuse of the CT-ultrasound apparatus needs not to perform the calibration repeatedly, and then S20 can be directly performed.
S101: placing the CT calibration model on the central axis 3 of the examination bed 2, scanning and imaging the CT calibration model by using the CT system 4 to obtain a reconstructed image of the CT system 4, and adjusting the detection range of the CT system 4 to enable the center of the reconstructed image of the CT system 4 to fall on the central axis 3;
s102: establishing a CT world coordinate system of the CT system 4, so that a Z axis of the CT world coordinate system coincides with the central axis 3; specifically, the xoy plane is a vertical plane;
s103: establishing a proportional relation between the section size of the object to be detected and the reconstructed image of the CT system 4 according to the relation between the CT world coordinates of the CT calibration model and the reconstructed image size of the CT system 4;
specifically, the CT world coordinate may reflect the actual size of the cross section of the object to be measured, and the proportional relationship between the size of the cross section of the object to be measured and the reconstructed image of the CT system 4 may be known by combining the CT world coordinate of the CT calibration model and the reconstructed image size of the CT system 4.
Further, S103 includes:
s1031: CT world coordinate (x) of CT calibration model 1 ，y 1 Z), thereby knowing the cross-sectional size of the test object;
s1032: calculating the proportionality coefficients u and v of the reconstructed image of the CT system 4 and the section size of the object to be detected;
s1033: defining a first combined coordinate of the reconstructed image of the CT system 4 as g 1 (μ·x 1 ，υ·y 1 ，z)。
S104: moving the inspection bed 2 by a specified distance L along the straight line direction of the central axis 3;
placing the ultrasonic calibration model on the central axis 3 of the examination bed 2, scanning and imaging the ultrasonic calibration model by using the ultrasonic system 5 to obtain a real-time image of the ultrasonic system 5, and adjusting the detection range of the ultrasonic system 5 to enable the center of the real-time image of the ultrasonic system 5 to fall on the central axis 3;
s105: establishing an ultrasonic world coordinate system of the ultrasonic system 5, so that a Z axis of the ultrasonic world coordinate system coincides with the central axis 3;
s106: the proportional relation between the size of the section of the object to be detected and the real-time image of the ultrasonic system 5 is adjusted, so that the images formed by the ultrasonic system 5 and the CT system 4 on the same section correspond to each other;
specifically, S106 includes:
s1061: acquiring ultrasonic world coordinates (x) of an ultrasonic calibration model 2 ，y 2 ，z+L)；
S1062: the real-time image of the ultrasonic system 5 and the section size of the object to be measured are set to have the scaling coefficients i and j according to (mu.x) 1 ，υ·y 1 )＝(i·x 2 ，j·y 2 ) Calculating to obtain values of i and j;
s1063: defining a second combined coordinate of the real-time image of the ultrasound system 5 as g 2 (i·x 2 ，j·y 2 ，z+L)。
S20: the CT system 4 is used in combination with the ultrasound system 5 for imaging. Specifically, S20 includes:
s201: scanning and imaging the object to be detected by using the CT system 4 to obtain a first combined coordinate g of a reconstructed image of the object to be detected 1 (μ·x 1 ，υ·y 1 ，z)；
S202: the object to be tested moves along the straight line direction of the central axis 3 along with the examining table 2 by a specified distance;
s203: scanning imaging the object to be detected by using the ultrasonic system 5 to obtain a second combined coordinate g of the real-time image of the object to be detected 2 (i·x 2 ，j·y 2 ，z+L)；
S204: and fusing the reconstructed image of the object to be detected with the real-time image of the object to be detected, so as to obtain a fused image.
The invention designs a CT image reconstruction and fusion system which takes ultrasonic real-time synchronous observation as an auxiliary imaging technology by utilizing the complementarity of ultrasonic imaging and CT imaging. The scheme can solve the problem that the imaging information is inconsistent with the state information of the detected object caused by asynchronous detection of the soft tissues of the human body by the CT system 4. In image registration, the invention is not based on a registration algorithm, but is used for realizing the accurate registration of the formed images, thereby achieving the effect of one-to-one correspondence of pixels on two images.
Correspondingly, the CT system 4 comprises a CT detection range adjusting module, a CT world coordinate system establishing module and a CT proportional relation determining module besides the X-ray source and the detector. The CT detection range adjustment module is used for adjusting the detection range of the CT system 4 and enabling the center of the reconstructed image of the CT system 4 to fall on the central axis 3; the CT world coordinate system establishing module is used for establishing a CT world coordinate system with the Z axis coincident with the central axis 3; the CT proportional relation determining module is connected with the CT world coordinate system establishing module and is used for establishing the proportional relation between the section size of the object to be detected and the reconstructed image of the CT system 4 according to the relation between the CT world coordinate of the CT calibration model and the reconstructed image size of the CT system 4.
The ultrasonic system 5 comprises an ultrasonic detection range adjustment module, an ultrasonic world coordinate system establishment module and an ultrasonic proportional relationship determination module. The ultrasonic detection range adjusting module is used for adjusting the detection range of the ultrasonic system 5 and enabling the center of the real-time image of the ultrasonic system 5 to fall on the central axis 3; the ultrasonic world coordinate system establishing module is used for establishing an ultrasonic world coordinate system with the Z axis coincident with the central axis 3; the ultrasonic proportional relation determining module is respectively connected with the ultrasonic world coordinate system establishing module and the CT proportional relation determining module and is used for adjusting the proportional relation between the size of the section of the object to be detected and the real-time image of the ultrasonic system 5 so that the images formed by the ultrasonic system 5 and the CT system 4 on the same section correspond to each other.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (3)
1. A method of imaging using a CT system in combination with an ultrasound system, performed by a CT-ultrasound examination apparatus, comprising:
s10: parameter calibration is carried out:
placing a CT calibration model on a central axis (3) of an inspection bed (2), scanning and imaging the CT calibration model by using a CT system (4) to obtain a reconstructed image of the CT system (4), and adjusting the detection range of the CT system (4) to enable the center of the reconstructed image of the CT system (4) to fall on the central axis (3);
establishing a CT world coordinate system of the CT system (4) so that a Z axis of the CT world coordinate system coincides with the central axis (3);
establishing a proportional relation between the section size of an object to be detected and the reconstructed image of the CT system (4) according to the relation between the CT world coordinates of the CT calibration model and the reconstructed image size of the CT system (4);
moving the inspection bed (2) by a specified distance along the straight line direction of the central axis (3);
placing an ultrasonic calibration model on a central axis (3) of an examination bed (2), scanning and imaging the ultrasonic calibration model by using an ultrasonic system (5) to obtain a real-time image of the ultrasonic system (5), and adjusting the detection range of the ultrasonic system (5) to enable the center of the real-time image of the ultrasonic system (5) to fall on the central axis (3);
establishing an ultrasonic world coordinate system of the ultrasonic system (5) so that a Z axis of the ultrasonic world coordinate system coincides with the central axis (3);
adjusting the proportional relation between the size of the section of the object to be detected and the real-time image of the ultrasonic system (5) to enable the images formed by the ultrasonic system (5) and the CT system (4) on the same section to correspond to each other;
s20: imaging using a CT system (4) in combination with an ultrasound system (5):
scanning and imaging the object to be detected by using a CT system (4) to obtain a reconstructed image of the object to be detected;
moving the object to be detected along with the examining table (2) along the straight line direction of the central axis (3) by the specified distance;
scanning imaging is carried out on the object to be detected by using an ultrasonic system (5) to obtain a real-time image of the object to be detected;
fusing the reconstructed image of the object to be detected with the real-time image of the object to be detected to obtain a fused image;
wherein the CT-ultrasound examination apparatus comprises:
a fixed base (1);
the inspection bed (2) is positioned above the fixed base (1) and is in sliding connection with the fixed base (1) along the straight line direction of the central axis (3) of the inspection bed (2);
-a CT system (4), the CT system (4) being located at one end of the examination table (2), the CT system (4) comprising an X-ray source and a detector, the CT system (4) further comprising:
the CT detection range adjustment module is used for adjusting the detection range of the CT system (4) and enabling the center of a reconstructed image of the CT system (4) to fall on the central axis (3);
the CT world coordinate system establishing module is used for establishing a CT world coordinate system with a Z axis coincident with the central axis (3);
the CT proportional relation determining module is connected with the CT world coordinate system establishing module and is used for establishing the proportional relation between the section size of the object to be detected and the reconstructed image of the CT system (4) according to the relation between the CT world coordinate of the CT calibration model and the reconstructed image size of the CT system (4);
-an ultrasound system (5), the ultrasound system (5) being at the specified distance from the CT system (4), the ultrasound system (5) comprising:
the ultrasonic detection range adjusting module is used for adjusting the detection range of the ultrasonic system (5) and enabling the center of a real-time image of the ultrasonic system (5) to fall on the central axis (3);
the ultrasonic world coordinate system establishing module is used for establishing an ultrasonic world coordinate system with a Z axis coincident with the central axis (3);
the ultrasonic proportional relation determining module is respectively connected with the ultrasonic world coordinate system establishing module and the CT proportional relation determining module and is used for adjusting the proportional relation between the size of the section of the object to be detected and the real-time image of the ultrasonic system (5) so that the images formed by the ultrasonic system (5) and the CT system (4) on the same section correspond to each other;
the image synthesis module is respectively connected with the CT system (4) and the ultrasonic system (5) and is used for fusing the reconstructed image of the object to be detected obtained by the CT system (4) and the real-time image of the object to be detected obtained by the ultrasonic system (5) to obtain a fused image.
2. The method of claim 1, wherein the step of establishing a proportional relationship between the cross-sectional size of the object to be measured and the reconstructed image of the CT system (4) from the relationship between the CT world coordinates of the CT calibration model and the reconstructed image size of the CT system (4) comprises:
acquiring CT world coordinates (x 1 ，y 1 ，z）；
Calculating the proportionality coefficients u and v of the reconstructed image of the CT system (4) and the section size of the object to be detected;
defining a first combined coordinate of a reconstructed image of the CT system (4) as g 1 （μ·x 1 ，υ·y 1 ，z）。
3. The method of combined imaging using a CT system and an ultrasound system according to claim 2, wherein defining the specified distance as L, the step of adjusting the proportional relationship between the cross-sectional size of the object to be measured and the real-time image of the ultrasound system (5) such that the images of the same cross-section taken by the ultrasound system (5) and the CT system (4) correspond to each other includes:
acquiring ultrasonic world coordinates (x) of the ultrasonic calibration model 2 ，y 2 ，z+L）；
The ratio coefficients of the real-time image of the ultrasonic system (5) and the section size of the object to be measured are i and j, and the ratio coefficients are calculated according to (mu.x) 1 ，υ·y 1 ）=（i·x 2 ，j·y 2 ) Calculating to obtain values of i and j;
defining a second combined coordinate of the real-time image of the ultrasound system (5) as g 2 （i·x 2 ，j·y 2 ，z+L）。
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| CN201811045797.1A CN108992084B (en) | 2018-09-07 | 2018-09-07 | Method for imaging by using combination of CT system and ultrasonic system and CT-ultrasonic inspection equipment |
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