CN109171817A - Three-dimensional breast ultrasound scan method and ultrasonic scanning system - Google Patents
Three-dimensional breast ultrasound scan method and ultrasonic scanning system Download PDFInfo
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- CN109171817A CN109171817A CN201811031335.4A CN201811031335A CN109171817A CN 109171817 A CN109171817 A CN 109171817A CN 201811031335 A CN201811031335 A CN 201811031335A CN 109171817 A CN109171817 A CN 109171817A
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- ultrasonic scanning
- marking ring
- breast
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
- A61B8/0825—Detecting organic movements or changes, e.g. tumours, cysts, swellings for diagnosis of the breast, e.g. mammography
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/48—Diagnostic techniques
- A61B8/483—Diagnostic techniques involving the acquisition of a 3D volume of data
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/52—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/5215—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data
- A61B8/5238—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data for combining image data of patient, e.g. merging several images from different acquisition modes into one image
Abstract
This application involves ultrasonic scanning field, a kind of three-dimensional breast ultrasound scan method and ultrasonic scanning system are disclosed.Position of the nipple relative to side ultrasound image can accurately be automatically determined.In this method, probe placement is subjected to ultrasonic scanning in breast central location, the first ultrasound image is obtained, while camera shooting includes the first video image of Marking ring, wherein the first ultrasound image covers teat placement；Teat placement is determined according to the first ultrasound image；Lateral location by probe placement in breast carries out ultrasonic scanning, obtains the second ultrasound image, while camera shooting includes the second video image of Marking ring；Image analysis is carried out to the first and second video images, relative position of second ultrasound image relative to teat placement is determined according to the position of Marking ring in the first and second video images.
Description
Technical field
This application involves ultrasonic scanning fields, in particular to breast ultrasound scan technology.
Background technique
At present when being scanned using the automatic breast ultrasound scan system of automatic breast ultrasound scan system to breast, one
The 3-D image of secondary automatically scanning can cover the partial region of breast.In diagnosis or screening, in order to cover whole breast,
Usual operator needs for ultrasonic probe to be individually positioned in three positions of breast, is covered with obtaining three 3-D images
Entire breast area.These three positions are usually (the breast center) AP, MED (on the inside of breast), LAT (on the outside of breast), such as Fig. 1
It show three positions of right breast.The 3-D image of acquisition can also be noted as corresponding position to facilitate doctor's read tablet.
And this mark behavior is usually that operator inputs in scanning workstation manually.Obtain image in, due to it needs to be determined that
Image pixel is with respect to the position of nipple, and staff needs to mark teat placement letter on scan image manually after the end of scan
Breath, to can determine relative position of the lesion relative to nipple according to ultrasonic scanning image when finding lesion.
Problem of the prior art is, if sonogram seems in two side positions, it is possible to which scan image is worked as
In be not covered with nipple, be merely able to rule of thumb estimate the approximate location of nipple at this time, if two sides image find disease
If stove, it is less accurate that lesion is possible to relative to the relative position of nipple.
Summary of the invention
The application's is designed to provide a kind of three-dimensional breast ultrasound scan method and ultrasonic scanning system, can automatically really
The scan position of settled preceding scan image, and can accurately automatically determine position of the nipple relative to side ultrasound image.
To solve the above-mentioned problems, three-dimensional breast ultrasound scan is carried out using ultrasonic scanning system this application discloses a kind of
Method, which includes manipulator and camera, and one end of the manipulator is provided with ultrasound probe, is set on the manipulator
It is equipped with Marking ring, which moves with the movement of the probe, this method comprises:
The probe placement is subjected to ultrasonic scanning in breast central location, obtains the first ultrasound image, while the camera
Shooting includes the first video image of the Marking ring, and wherein first ultrasound image covers teat placement；
Teat placement is determined according to first ultrasound image；
Lateral location by the probe placement in the breast carries out ultrasonic scanning, obtains the second ultrasound image, while this is taken the photograph
As head shooting includes the second video image of the Marking ring；
Image analysis is carried out to first and second video image, according to the Marking ring in first and second video image
Position, determine the relative position of second ultrasound image relative to the teat placement.
In a preferred example, which is the ring of multiple and different colors arranged side by side.
In a preferred example, this carries out image analysis to first and second video image, further comprises:
Calculate the actual physics moving distance of the probe, wherein moving distance=(Marking ring actual diameter/Marking ring side
Long pixel number) the mobile pixel of × Marking ring in first and second video image；
According to the actual physics moving distance of the probe, the opposite position of second ultrasound image Yu the teat placement is calculated
It moves.
In a preferred example, which includes: the probe in the breast which side, and/or, second ultrasound image
With the relative displacement of the teat placement.
In a preferred example, after the step of this carries out image analysis to first and second video image, further includes:
According to the position of the Marking ring in first and second video image, splice first and second ultrasound image.
In a preferred example, in the step of this carries out image analysis to first and second video image, further includes:
Lesions position is determined in second ultrasound image；
According to the position according to the Marking ring in first and second video image, the lesions position and the nipple position are determined
The relative displacement vector set.
In a preferred example, which includes on the inside of breast and on the outside of breast.
In a preferred example, which does not cover the teat placement.
In a preferred example, the position of the camera and acquisition parameters are fixed.
Disclosed herein as well is a kind of ultrasonic scanning systems, comprising:
Including manipulator, camera and computing module；
One end of the manipulator is provided with ultrasound probe, is provided with Marking ring on the manipulator, the Marking ring with
The movement of the probe and move；
The camera is for shooting the video image comprising the Marking ring；
The computing module is used in the video image that shoots identify the position of the Marking ring according to the camera, and according to
The variation of the label ring position calculates the displacement of the probe.
Compared with prior art, the technical solution of the application can accurately automatically determine nipple relative to side ultrasound figure
The position of picture including automatically determining current ultrasonic image in the scan position of which side, and then can be accurately determined lesion phase
For the relative position of nipple.
Further, use pleochroic halo ring as Marking ring, the accuracy rate that Marking ring is correctly validated can be improved.
Further, the pixel shared according to known Marking ring size and in video image, can calculate each
The corresponding physical length of a pixel, can calculate the moving distance of probe, so calculate in the second ultrasound image with cream
The physics relative displacement of head position.
Further, the background of the first and second video images captured by the camera of fixed position does not move,
When calculating the relative movement of Marking ring, calculation amount is smaller.
A large amount of technical characteristic is described in the description of the present application, is distributed in each technical solution, if to enumerate
Out if the combination (i.e. technical solution) of all possible technical characteristic of the application, specification can be made excessively tediously long.In order to keep away
Exempt from this problem, each technical characteristic disclosed in the application foregoing invention content, below in each embodiment and example
Each technical characteristic disclosed in disclosed each technical characteristic and attached drawing, can freely be combined with each other, to constitute each
The new technical solution (these technical solutions have been recorded because being considered as in the present specification) of kind, unless the group of this technical characteristic
Conjunction is technically infeasible.For example, disclosing feature A+B+C in one example, spy is disclosed in another example
A+B+D+E is levied, and feature C and D are the equivalent technologies means for playing phase same-action, it, can not as long as technically selecting a use
Can use simultaneously, feature E can be technically combined with feature C, then, and the scheme of A+B+C+D because technology is infeasible should not
It is considered as having recorded, and the scheme of A+B+C+E should be considered as being described.
Detailed description of the invention
Fig. 1 is the signal of tri- positions AP, MED and LAT when carrying out breast ultrasound scan to right breast in the prior art
Figure；
Fig. 2 is a kind of side that three-dimensional breast ultrasound scan is carried out using ultrasonic scanning system in the application first embodiment
The flow diagram of method；
Fig. 3 is the main component structural schematic diagram of ultrasonic scanning system in the first and second embodiment of the application；
Fig. 4 is the computer disposal flow diagram in the application one embodiment, by taking Marking ring is red green two color as an example。
Specific embodiment
In the following description, in order to make the reader understand this application better, many technical details are proposed.But this
The those of ordinary skill in field is appreciated that even if without these technical details and many variations based on the following respective embodiments
And modification, the application technical solution claimed also may be implemented.
The explanation of part concept:
AP: breast center physical location
MED: (close central axes) physical location on the inside of breast
LAT: (close arm) physical location on the outside of breast
Implementation to keep the purposes, technical schemes and advantages of the application clearer, below in conjunction with attached drawing to the application
Mode is described in further detail.
First embodiment of the invention is related to a kind of method for carrying out three-dimensional breast ultrasound scan using ultrasonic scanning system.
Fig. 2 is the flow diagram that the method for breast ultrasound scan is carried out using ultrasonic scanning system.Fig. 3, which shows this method, to be made
Ultrasonic scanning system comprising manipulator 302 and camera 301, one end of manipulator are provided with ultrasound probe
304, Marking ring 303 is provided on manipulator, and Marking ring is moved with the movement of probe.
The method of breast ultrasound scan includes:
In step 201, probe placement is subjected to ultrasonic scanning in breast central location, obtains the first ultrasound image, together
When camera shooting include Marking ring the first video image, wherein the first ultrasound image cover teat placement.
Then into step 202, teat placement is determined according to the first ultrasound image.Optionally, pass through image analysis or figure
Teat placement is determined otherwise as knowing.Optionally, by providing human-computer interaction interface, operator uses mouse, touch screen etc.
Input tool inputs teat placement on the first ultrasound image.
Then into step 203, the lateral location (such as the position MED or the position LAT) by probe placement in breast is carried out
Ultrasonic scanning obtains the second ultrasound image, while camera shooting includes the second video image of Marking ring.Usual second ultrasound
Teat placement is not covered in image.Optionally, in application scenes, lateral location may not be the MED or LAT of specification
Position, but other arbitrary lateral locations of nipple are not covered.
Then into step 204, image analysis is carried out to the first and second video images, according to the first and second video figures
The position of Marking ring, determines relative position of second ultrasound image relative to teat placement as in.Optionally, relative position includes
Probe is in breast which side (such as the position MED or the position LAT).Optionally, relative position includes the second ultrasound image and nipple
The relative displacement of position.
Process above is three-dimensional breast ultrasound scan workflow, can accurately be automatically determined by the workflow
Position of the nipple relative to side ultrasound image, so that doctor be facilitated accurately and effectively to report that lesion is relative to nipple on image
Position, including automatically determine current ultrasonic image in the scan position of which side (such as the position MED or the position LAT), in turn
Relative position of the lesion relative to nipple can be accurately determined.Using the process, all scan images can be made all to contain
There is teat placement information, is very helpful for the read tablet of doctor.
Preferably, Marking ring is the ring of multiple and different colors arranged side by side.Use pleochroic halo ring as Marking ring, mark can be improved
The accuracy rate that note ring is correctly validated.For example, polychrome is red and green, because of the probability that red and green occurs in ward
It is smaller, and the probability occurred side by side simultaneously is more much smaller, thus the Marking ring of red and green color be identified it is accurate
Rate is high.For another example, polychrome is also possible to the combination of other colors, and such as red, green and blue 3 colour cells are closed, yellow and purple
Combination etc..Optionally, Marking ring is also possible to monochromatic ring, and other colors are not preferably in the color of the monochrome ring and ward
It is identical.
Optionally, step 204 still further comprises following sub-step:
Sub-step 1 calculates the actual physics moving distance of probe, wherein moving distance=(Marking ring actual diameter/mark
Remember ring side length pixel number) mobile pixel of the * Marking ring in the first and second video images.Wherein Marking ring is in video image
It is presented as rectangle, the diameter an of side length (usually longer side length) correspondence markings ring of rectangle.The actual diameter of Marking ring
(physical diameter) can measure to obtain in advance.
Sub-step 2 calculates the opposite position of the second ultrasound image and teat placement according to the actual physics moving distance of probe
It moves.
The shared pixel according to known Marking ring size and in video image, it is corresponding can to calculate each pixel
Physical length, the moving distance of probe can be calculated, and then calculate the object with teat placement in the second ultrasound image
Manage relative displacement.The background of first and second video images captured by the camera of fixed position does not move, and is calculating
Calculation amount is smaller when the relative movement of Marking ring.
Optionally, after step 204, the can also be spliced according to the position of Marking ring in the first and second video images
One and second ultrasound image.In one embodiment, the ultrasound image of tri- positions AP, MED and LAT can be spliced
Come, forms the complete ultrasound image an of breast.
Optionally, can also include following sub-step in step 204:
Lesions position is determined in the second ultrasound image.
According to the position according to Marking ring in the first and second video images, the opposite of lesions position and teat placement is determined
Displacement vector.
There are many implementations for the position of camera and acquisition parameters.Optionally, the position of camera and acquisition parameters are
Fixed.Optionally, the position of camera and acquisition parameters are also possible to variation, are needed at this time through sensor or other hands
Section obtains the position of camera and acquisition parameters, these information will be used to calculate the relative movement of Marking ring.Optionally, camera
Position is constant, but acquisition parameters can change, when needing to obtain the first and second video image of shooting at this time from camera
Acquisition parameters, with the relative movement for calculating Marking ring.Acquisition parameters include aperture, shutter, scaling, gain etc..
The embodiment in order to better understand illustrates the example of the application below.
As shown in figure 3, a high-definition camera that can obtain picture in real time is fixed on the fixed metallic rod in right side
On, Marking ring (with single or multiple color annulus, known to diameter and height) is fixed on can be living with automatic manipulator
On dynamic free bar, camera face Marking ring is horizontal positioned, therefore Marking ring is one or more in list in camera realtime graphic
The rectangle of kind color.The image of camera acquisition is read with video acquisition program and is known with color, shape, the multiple information in position
Other blip object.
Detailed process is that user selects the breast (left cream or right cream) of scanning, then first according to system suggestion, scanning
AP (breast centre) position.User needs to be manually placed at machinery right above breast at this time, and nipple is located at manipulator center.It sweeps
During retouching, the position of our video frequency tracking system recording mark ring on the video images.
After the end of scan of the position AP, when user's mobile manipulator removes the image of the scanning position MED LAT, manipulator
Change in location occurs.Since camera absolute physical position is constant, as manipulator is mobile horizontal displacement occurs for Marking ring, marks
The position of note ring on the video images also changes.By target tracking, we can calculate Marking ring in video figure again
As upper outline position and traversing distance.Scan position can be judged automatically by outline position, can be counted automatically by traversing distance
It calculates the relative position of nipple and automatic Calibration comes out in the picture.By taking left cream as an example, when scanning left cream, if Marking ring position
It sets and moves right when comparing scanning AP, illustrate position of manipulator on the left side of the position AP, the position scanned at this time is LAT.If
Label ring position is moved to the left when comparing scanning AP, illustrates position of manipulator on the right of the position AP, the position scanned at this time is
MED.Similarly we can obtain location information when scanning right cream.
It is actual straight according to the side length pixel value and annulus of this rectangle since Marking ring is shown as rectangle on the video images
Unit physical size corresponding number of pixels in the picture can be obtained in diameter, can be in proportion according to the distance that rectangle moves in the picture
Obtain the practical physical distance moved of manipulator (see following formula).
Mobile pixel in moving distance=(Marking ring actual diameter/Marking ring side length pixel number) × Marking ring image
By taking Marking ring is red green two color as an example, computer disposal process is as shown in Figure 4.Specific step is as follows for the process:
Video port image is first read, (can certainly be other by the colouring information that image switchs to hsv color space
Color space, such as RBG).
All greens and red rectangle are found respectively and position its position.
Size, immediate red, the green rectangle of location and shape are defined as Marking ring.
Then according to the information for being currently left cream or right cream, the information that binding marker ring is moved to left or moved to right, determination is worked as
Preceding ultrasound scan images breast which side (MED of the LAT of left cream or the MED of left cream or right cream or right cream
LAT)。
Then relevant physical displacement (such as the physical displacement of ultrasound probe, cream are accurately calculated according to pixel displacement
Displacement of the head relative to current ultrasonic scan image, displacement of the lesion relative to nipple in current ultrasonic scan image), and from
Position of the dynamic label nipple relative to current ultrasonic scan image.
It is whole according to the physical spatial location of scan image three times (AP, LAT and MED) and the available breast of nipple marker
The physics overall picture of scanned position.
Second embodiment of the invention is related to a kind of ultrasonic scanning system.As shown in figure 3, the ultrasonic scanning system includes:
Including manipulator 302, camera 301 and computing module.
One end of manipulator is provided with ultrasound probe 304, is provided with Marking ring 303 on manipulator, Marking ring with
The movement of probe and move.
Camera is for shooting the video image comprising Marking ring.
The position of Marking ring is identified in the video image that computing module is used to shoot according to camera, and according to Marking ring
The variation of position calculates the displacement of probe.It can further be counted according to the displacement of probe in conjunction with the image analysis to ultrasound image
Other information are calculated, for example, current ultrasonic image is in which side (such as the position MED or the position LAT), some ultrasound image
Relative displacement with teat placement, the relative displacement of the lesion in some ultrasound image and teat placement.Computing module is in Fig. 3
It is not shown, which obtains data (including video image and ultrasonic scanning figure from camera and ultrasound probe
Picture), complete relevant calculating.
Preferably, Marking ring is the ring of multiple and different colors arranged side by side.Use pleochroic halo ring as Marking ring, mark can be improved
The accuracy rate that note ring is correctly validated.
First embodiment is the systematic difference method proposed to present embodiment, is directed to the technical detail of system
It can be used, be not repeated herein completely in the present embodiment.
For being designed the step of can executing on computers in above method embodiment, the embodiment of the present invention is also provided
A kind of computer storage medium, wherein being stored with computer executable instructions, which is executed by processor
Each method embodiment Shi Shixian of the invention.In addition, the embodiment of the present invention also provides a kind of ultrasonic scanning system, including
For storing the memory of computer executable instructions, and, processor；The processor is based in executing the memory
The step in above-mentioned each method embodiment is realized when calculation machine executable instruction.
It should be noted that relational terms such as first and second and the like are only in the application documents of this patent
For distinguishing one entity or operation from another entity or operation, without necessarily requiring or implying these entities
Or there are any actual relationship or orders between operation.Moreover, the terms "include", "comprise" or its any other
Variant is intended to non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only
It including those elements, but also including other elements that are not explicitly listed, or further include for this process, method, object
Product or the intrinsic element of equipment.In the absence of more restrictions, the element limited by sentence " including one ", not
There is also other identical elements in the process, method, article or apparatus that includes the element for exclusion.The application of this patent
In file, if it is mentioned that certain behavior is executed according to certain element, then refers to the meaning for executing the behavior according at least to the element, wherein
Include two kinds of situations: executing the behavior according only to the element and the behavior is executed according to the element and other elements.Multiple,
Repeatedly, the expression such as a variety of include 2,2 times, 2 kinds and 2 or more, 2 times or more, two or more.
It is incorporated herein by reference in all documents that the application refers to, it is independent just as each document
It is incorporated as with reference to such.In addition, it should also be understood that, those skilled in the art can after having read the above-mentioned teaching content of the application
To make various changes or modifications to the application, such equivalent forms equally fall within the application range claimed.
Claims (10)
1. a kind of method for carrying out breast ultrasound scan using ultrasonic scanning system, which is characterized in that the system comprises machinery
Hand and camera, one end of the manipulator are provided with ultrasound probe, and Marking ring, the mark are provided on the manipulator
Note ring is moved with the movement of the probe, which comprises
The probe placement is subjected to ultrasonic scanning in breast central location, obtains the first ultrasound image, while the camera
Shooting includes the first video image of the Marking ring, wherein first ultrasound image covers teat placement；
Teat placement is determined according to first ultrasound image；
Lateral location by the probe placement in the breast carries out ultrasonic scanning, obtains the second ultrasound image, while described
Camera shooting includes the second video image of the Marking ring；
Image analysis is carried out to first and second video image, is marked according to first and second video image
The position of ring determines relative position of second ultrasound image relative to the teat placement.
2. the method according to claim 1 for carrying out breast ultrasound scan using ultrasonic scanning system, which is characterized in that institute
State the ring that Marking ring is multiple and different colors arranged side by side.
3. the method according to claim 1 for carrying out breast ultrasound scan using ultrasonic scanning system, which is characterized in that institute
It states and image analysis is carried out to first and second video image, further comprise:
Calculate the actual physics moving distance of the probe, wherein moving distance=(Marking ring actual diameter/Marking ring side length
Pixel number) the mobile pixel of × Marking ring in first and second video image；
According to the actual physics moving distance of the probe, the opposite position of second ultrasound image and the teat placement is calculated
It moves.
4. the method according to claim 1 for carrying out breast ultrasound scan using ultrasonic scanning system, which is characterized in that institute
Stating relative position includes: the probe in the breast which side, and/or, second ultrasound image and the teat placement
Relative displacement.
5. the method according to claim 1 for carrying out breast ultrasound scan using ultrasonic scanning system, which is characterized in that institute
After the step of stating to first and second video image progress image analysis, further includes:
According to the position of Marking ring described in first and second video image, splice first and second ultrasound image.
6. the method according to claim 1 for carrying out breast ultrasound scan using ultrasonic scanning system, which is characterized in that institute
It states in the step of carrying out image analysis to first and second video image, further includes:
Lesions position is determined in second ultrasound image；
According to the position of the Marking ring according to first and second video image, the lesions position and the cream are determined
The relative displacement vector of head position.
7. the method according to any one of claim 1 to 6 for carrying out breast ultrasound scan using ultrasonic scanning system,
It is characterized in that, the lateral location includes on the inside of breast and on the outside of breast.
8. the method according to any one of claim 1 to 6 for carrying out breast ultrasound scan using ultrasonic scanning system,
It is characterized in that, second ultrasound image does not cover the teat placement.
9. the method according to any one of claim 1 to 6 for carrying out breast ultrasound scan using ultrasonic scanning system,
It is characterized in that, the position of the camera and acquisition parameters are fixed.
10. a kind of ultrasonic scanning system characterized by comprising
Including manipulator, camera and computing module；
One end of the manipulator is provided with ultrasound probe, is provided with Marking ring on the manipulator, the Marking ring with
The movement of the probe and move；
The camera is for shooting the video image comprising the Marking ring；
The position of the Marking ring, and root are identified in the video image that the computing module is used to shoot according to the camera
The displacement of the probe is calculated according to the variation of the label ring position.
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| CN112075957A (en) * | 2020-07-27 | 2020-12-15 | 深圳瀚维智能医疗科技有限公司 | Mammary gland circular scanning track planning method and device and computer readable storage medium |
| CN112603368A (en) * | 2020-12-25 | 2021-04-06 | 上海深博医疗器械有限公司 | Mammary gland ultrasonic navigation and diagnosis system and method |
| CN112704514A (en) * | 2020-12-24 | 2021-04-27 | 重庆海扶医疗科技股份有限公司 | Focus positioning method and focus positioning system |
| CN114305502A (en) * | 2020-09-29 | 2022-04-12 | 深圳迈瑞生物医疗电子股份有限公司 | Mammary gland ultrasonic scanning method, device and storage medium |
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