CN109276296A - A kind of puncture needle method for visualizing based on two-dimensional ultrasound image - Google Patents
A kind of puncture needle method for visualizing based on two-dimensional ultrasound image Download PDFInfo
- Publication number
- CN109276296A CN109276296A CN201811461736.3A CN201811461736A CN109276296A CN 109276296 A CN109276296 A CN 109276296A CN 201811461736 A CN201811461736 A CN 201811461736A CN 109276296 A CN109276296 A CN 109276296A
- Authority
- CN
- China
- Prior art keywords
- puncture needle
- needle
- image
- tilt angle
- interest
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3413—Needle locating or guiding means guided by ultrasound
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Medical Informatics (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Pathology (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Ultra Sonic Daignosis Equipment (AREA)
Abstract
The invention discloses a kind of puncture needle method for visualizing based on two-dimensional ultrasound image, this method comprises: acquiring and storing continuous two-dimensional ultrasonic image, each frame ultrasound image all includes complete puncture needle image；Tilt angle is estimated to the puncture needle in every frame ultrasound image；Obtain the area-of-interest containing puncture needle；Calculate the axis of puncture needle；Real-time detection tracks tip position and exports tip position information, is filtered to needle point track and reduces tracking error.The present invention is completely by realizing puncture needle visualization to two-dimensional ultrasonic image processing, and it is succinct convenient to operate, and real-time display puncture needle needle body and tip position during diagnosis, auxiliary diagnosis improve success rate of operation.
Description
Technical field
The present invention relates to technical field of image processing, in particular to a kind of puncture needle visualization based on two-dimensional ultrasound image
Method.
Background technique
Puncturing operation refers under the guidance of medical imaging, passes through fell skin tissue by means of puncture needle, by drug send to
Lesion tissue is to achieve the purpose that targeted therapy, or takes out the subsequent pathology inspection of tissue progress of suspected abnormality part
It looks into, with the modus operandi for helping the state of an illness to make a definite diagnosis.Relative to traditional treatment method, puncturing operation is small with wound, pain is light, art
The advantages that restoring fast, few intercurrent disease afterwards.Due in puncture process, doctor need the position to puncture needle inside tissue into
Row is controlled in real time, to ensure that it advances forward along preset inserting needle path, and will not be to the health tissues on periphery
Damage, therefore puncturing operation needs carry out under the guidance of medical image, realize the visualization of puncture needle, ultrasonic image by
Radiation will not be generated to human body in it, it is ensured that good real-time and price is lower, therefore in Minimally Invasive Surgery navigation
It is widely applied.
The puncturing operation of two-dimensional ultrasonic image intervention, is mainly the following method at present:
Deflection angle method is got by changing the deflection angle between the direction of travel of puncture needle and ultrasonic direction of wave travel
Image containing high-intensitive puncture needle signal is known as deflecting frame, then merges deflection frame with original two dimensional ultrasound image, makes figure
As in needle signal be apparent from, with help doctor more easily view pinpoint movement position (CN102727257A,
CN104434273A)；Location navigation method, puncturing operation dispose locating and tracking on puncture needle and ultrasonic probe respectively in the process
Device, using the coordinate information of electromagnetic location equipment or the real-time positioning puncture needle of optical positioning device in three-dimensional space, Neng Goubao
Puncture needle is demonstrate,proved always in two-dimensional ultrasound plane, further according to the spatial positional information of tracker Real-time Feedback, in ultrasound image
The position of needle point is marked, realizes visualization (CN108420529A)；Image algorithm processing, using puncture supporter guarantee puncture needle and
Ultrasound image is coplanar, by needle body and tip position in algorithm process real-time mark surgical procedure, does not need external any auxiliary
Equipment reduces Operating Complexity, is suitble to any surgical environments (CN105491955A).
Deflection angle method is related to the launch angle and subsequent image fusion treatment that control changes sound wave, grasps to operation
The flexibility of work has larger impact；Positioning device precision high price is expensive, also high to operation environmental requirement；At image algorithm
Reason, it is economical and practical, it is easy to operate, since ultrasound image clarity itself is poor, the determination of the tilt angle of puncture needle in image
It is not easy to realize with needle body enhancing algorithm, and to the requirement of real-time of algorithm height, there is certain difficulty, but can have
Effect reduces cost.
Summary of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide one kind to be based on image procossing
Puncture needle method for visualizing.
The application implementation provides a kind of puncture needle method for visualizing, comprising:
Continuous two-dimensional ultrasonic image is acquired, each frame ultrasound image all includes complete puncture needle image；
Tilt angle is estimated to the puncture needle in every frame ultrasound image；
Obtain the area-of-interest containing puncture needle；
The axis of puncture needle is estimated in area-of-interest；
Real-time detection tracks tip position and exports tip position information.
Further, angle of the tilt angle of the puncture needle between puncture needle and horizontal plane.
Further, tilt angle is estimated to the puncture needle in every frame ultrasound image, specifically includes:
The tilt angle of puncture needle is searched in entire image, and limits initial ranging angular range；
All gray values in two-dimensional ultrasonic image are counted each under the angle to projecting under current angular in search process
Quantity containing puncture needle pixel value in row data chooses the maximum value of puncture needle pixel value quantity and is used as similarity measure letter
Number；
The corresponding similarity measure function of some angle is maximum in search process, then it is assumed that the angle is tilt angle.
Further, the area-of-interest containing puncture needle is obtained, is specifically included:
Carrying out trend pass filtering to whole picture ultrasound image according to tilt angle enhances puncture needle, calculates the position of two endpoints of puncture needle
Coordinate,
It chooses the parallel banded zone of needle body and sets 1 as area-of-interest, and by the pixel value in the banded zone, other pixels
Value sets 0, makes a two-value template；
This two-value template and the enhanced image of trend pass filtering are done into multiplication, obtained only containing the area-of-interest of puncture needle.
Further, the axis of the puncture needle is the central axes that puncture needle is similar to cylindrical needle body.
Further, the axis for estimating puncture needle, specifically includes:
In area-of-interest, gray value statistic law is used again in the range of 5 degree of deflection angles up and down centered on tilt angle
Search for optimal tilt angle；
Several zone of dispersion are divided by puncture needle needle body is equally spaced, detect that all puncture needles are each in area-of-interest
The coordinate position of zone of dispersion calculates average value；
The axis of puncture needle is determined according to the transverse and longitudinal coordinate of average value and optimal tilt angle.
Further, real-time detection marks tip position, specifically includes:
The endpoint location coordinate of puncture needle and 8 pixels surround around it a square are obtained using RANSAC algorithm
Region；
Continuous adjacent two field pictures are made the difference, maximum gradation value position coordinates is obtained and 8 pixels surrounds around it one
A square area；
Two square areas seek union, and the point fallen on axis is considered as needle point.
Further, removal error is filtered to sequence tip position, specifically included:
The sequence tip position detected from sequence image is filtered using Kalman filter, removes substantial deviation track
Needle point coordinate.
Further, it after the area-of-interest of the acquisition containing puncture needle, specifically includes:
In area-of-interest, enhancing processing is carried out to needle body edge according to shade of gray variation, while filtering out around needle body
Banded improvement.
A kind of puncture needle method for visualizing based on two-dimensional ultrasound image provided by the embodiments of the present application, this method comprises:
Continuous two-dimensional ultrasonic image is acquired and stores, each frame ultrasound image all includes complete puncture needle image；It is super to every frame
Puncture needle in acoustic image estimates tilt angle；Obtain the area-of-interest containing puncture needle；Calculate the axis of puncture needle；In real time
Detecting and tracking tip position exports tip position information, is filtered to needle point track and reduces tracking error, and the present invention is completely logical
It crosses and puncture needle visualization is realized to two-dimensional ultrasonic image processing, it is succinct convenient to operate, real-time display puncture needle during diagnosis
Needle body and tip position, auxiliary diagnosis improve success rate of operation.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is the application
Some embodiments for those of ordinary skill in the art without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is a kind of flow diagram for puncture needle method for visualizing that the embodiment of the present application one provides；
Fig. 2 is the flow diagram for the estimation puncture needle tilt angle that the embodiment of the present application two provides；
Fig. 3 is the initial reference search range schematic diagram that the embodiment of the present application two provides；
Fig. 4 is the gray scale Data-Statistics direction schematic diagram that the embodiment of the present application two provides；
Fig. 5 is the flow diagram that the estimation that the embodiment of the present application three provides punctures needle axis and tip position；
Fig. 6 is the enhanced ultrasound image schematic diagram of trend pass filtering that the embodiment of the present application three provides；
Fig. 7 is the two-value template schematic diagram that the embodiment of the present application three provides；
Fig. 8 is the area-of-interest schematic diagram that the embodiment of the present application three provides；
Fig. 9 is the optimal tilt angle schematic diagram of search that the embodiment of the present application three provides；
Figure 10 is the interested area division schematic diagram at equal intervals that the embodiment of the present application three provides；
Figure 11 is the puncture needle discretization schematic diagram that the embodiment of the present application three provides；
Figure 12 is the puncture needle axis schematic diagram that the embodiment of the present application three provides；
Figure 13 is puncture needle effect of visualization schematic diagram provided by the present application.
Specific embodiment
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
In attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is
Some embodiments of the present application, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall in the protection scope of this application.
Puncturing operation has many advantages, such as that wound is small, pain is light, post-operative recovery is fast, few intercurrent disease, therefore minimally invasive intervention is controlled
Treatment method is being more and more widely used in present medical procedures.Puncture needle method for visualizing, which is substantially, at present is based on
External positioning tracking device, or using wide-angle deflection method then by puncture needle image and tissue visual fusion, outside
It is also costly to set the high still cost of positioning tracking device precision, it is higher to operation environmental requirement.Wide-angle deflection method needs elder generation
It puncture needle and tissue is imaged respectively, is then fused together again, need to meet the direction of the launch and puncture needle of sound wave
Angle between direction of travel limits the flexibility of surgical procedure close to 90 degree.
For this purpose, the embodiment of the present application provides a kind of puncture needle method for visualizing, it is directly super from the two dimension containing puncture needle
The needle body and tip position information for going out puncture needle in acoustic image by image algorithm processing detection, do not need external positioning device,
Angle between puncture needle direction of travel and the sound wave direction of the launch does not have particular requirement.Puncture needle visualization provided in this embodiment
Method only realizes puncture needle visualization by image processing algorithm, easy to operate, while not will increase extra cost.
For ease of understanding, specifically it is situated between below with reference to Fig. 1-13 pairs of image split-joint methods provided by the embodiments of the present application
It continues.
Embodiment one
It is that a kind of process for puncture needle method for visualizing based on two-dimensional ultrasound image that the present embodiment one provides is shown referring to Fig. 1
It is intended to.The puncture needle method for visualizing, includes the following steps.
S101: acquiring continuous two-dimensional ultrasonic image, and each frame ultrasound image all includes complete puncture needle image.
It is visualized to puncture needle during puncturing operation using the method for image procossing, it needs to perform the operation entirely
The moment guarantees that the entire needle body of puncture needle is present in always in the plane where two-dimensional ultrasonic image in journey, at present by puncturing branch
Ultrasonic probe and puncture needle are fixed together by frame, can satisfy above-mentioned requirements substantially.
S102: tilt angle is estimated to the puncture needle in every frame ultrasound image.
It is influenced during puncturing operation by diseased region and surgical environments, the travel angle of puncture needle does not immobilize
In addition puncture needle doctor can slightly change the direction of travel of puncture needle as the case may be in traveling process in the tissue, separately
Outside, ultrasonic image is that picture contrast is poor compared to the shortcomings that other medical images, and the puncture needle image in image usually compares
Fuzzy or even discontinuous, it is therefore necessary to carry out enhancing processing to puncture needle, it is assumed that puncture needle is in tissue traveling process
It does not occur bending and deformation, puncture needle image can be considered as straight line always, it is contemplated that the linear characteristic of puncture needle itself, it can be with
Enhancing processing is carried out to puncture needle using trend pass filtering, while filtering out the marginal information in image under other angles and excluding to do
It disturbs, anisotropic filter angle requirement is stringenter, if error very much not simply fails to very much play puncture needle reinforcing effect, also may be used
Needle body can be filtered.
S103: the area-of-interest containing puncture needle is obtained.
The pixel region very little that puncture needle occupies in whole picture two-dimensional ultrasonic image, the side of human organ, tissue in image
Edge can bring interference to the detection of puncture needle, be previously detected the Position Approximate of puncture needle, intercept only containing puncture needle needle body
Local region of interest can not only exclude other marginal informations to puncture needle visualization processing in the region of interest and do
It disturbs, additionally it is possible to improve the execution efficiency of algorithm and the accuracy of detection.
S104: estimation punctures needle axis.
Whether doctor judges puncture needle pre- by position of the observation puncture needle in tissue in real time in surgical procedure
In the path first planned, if it find that puncture needle deviates from estimated track, it can be by adjusting the traveling of angulation change puncture needle
Danger is evaded in direction in time, and the axis information that puncture needle is depicted in two-dimensional ultrasonic image, which can approximately give expression to, wears
Traveling situation of the pricker in tissue.
S105: estimate the tip position of puncture needle.
The tip position of puncture needle needs accurate positioning, doctor in real time to need to know that puncture needle needle point is in puncture process
It is no to have arrived at lesion locations, if the result of the bigger meeting opponent's art of the location error of positioning brings serious influence.
To sum up, it the present embodiment provides a kind of puncture needle method for visualizing based on two-dimensional ultrasound image, acquires and the company of storage
Continuous two-dimensional ultrasonic image, each frame ultrasound image all includes complete puncture needle image；To wearing in every frame ultrasound image
Pricker estimates tilt angle；Obtain the area-of-interest containing puncture needle；Calculate the axis of puncture needle；Real-time detection tracks needle point
Position exports tip position information, is filtered to needle point track and reduces tracking error.The present invention is completely by two-dimensional ultrasound
Image procossing realizes puncture needle visualization, and it is succinct convenient to operate, real-time display puncture needle needle body and needle point position during diagnosis
It sets, auxiliary diagnosis improves success rate of operation.
Embodiment two
Referring to fig. 2, a kind of process of the puncture needle method for visualizing based on two-dimensional ultrasound image provided for the present embodiment two is shown
It is intended to.The puncture needle method for visualizing, includes the following steps.
S201: inputting continuous two-dimensional ultrasonic image, and each frame ultrasound image all includes complete puncture needle image.
It should be noted that this step S201 is identical as the S101 in above-described embodiment one, related introduction refers to implementation
Example one, details are not described herein.
Following step S202-S206 is the specific implementation of S102 in above-described embodiment one.
S202: the tilt angle of puncture needle is searched in entire image, and limits initial ranging angular range.
The present embodiment uses the tilt angle of particle swarm algorithm global search puncture needle in whole picture two-dimensional ultrasonic image, is
Raising search speed, algorithm need to be manually entered restriction range when executing for the first time, and range can probably refer to puncture needle institute
Quadrant, referring to Fig. 3, the corresponding angular range of first quartile be [0, pi/2], the corresponding angular range of the second quadrant be [π/
2, π], the corresponding angular range of third quadrant is [- π ,-pi/2], and the corresponding angular range of fourth quadrant is [- pi/2,0].
It should be noted that the search range in 90 degree of sections is initial reference value when algorithm executes for the first time, work as algorithm
In implementation procedure, which can automatically carry out dynamic adjustment, i.e., the last time is calculated when searching for tilt angle every time
Tilt angle centered on, combine the search range that its upper and lower 10 degree of deflection angle region is searched for as this, pass through diminution
Search range can further increase the execution speed of algorithm and the accuracy of result.
It should also be noted that, particle swarm algorithm belongs to global search strategy, even if search range without limitation, is defaulted as
[0,2 π], can also finally calculate general tilt angle, and the time that only calculated result and algorithm execute will not manage very much
Think, it is contemplated that the real-time and accuracy of puncturing operation preferably preset empirical value and control search range in reasonable model
In enclosing.
S203: when searching a certain angle, gray value all in entire image being projected along current angular, and statistics should
Quantity under angle containing puncture needle pixel value in every data line chooses puncture needle pixel value quantity maximum value as similitude
Measure function.
When algorithm is per a more tilt angle of new search, need a line grey scale pixel value every in entire image along the angle
Degree projects, referring to fig. 4.The pixel value that will be greater than preset threshold is considered as the gray value of puncture needle image, sees formula 1, unites respectively
The puncture needle number of gray values that every row contains is counted, maximum value therein is found,
(1)
In formula, θ represents a certain tilt angle in search range, and M represents the row vector for being parallel to the direction θ, N represent perpendicular to
The column vector in the direction θ, Iθ(i, j) represents ultrasound image grayscale value, and τ represents preset threshold, and the gray value greater than the value is considered as
Puncture needle pixel value, PθThe maximum value in the puncture needle number of gray values that the upper each row of θ angle direction projection contains is represented, phase is denoted as
Like property measure function, particle swarm algorithm can be according to similarity measure function PθThe parameters of more new algorithm, receive algorithm quickly
Hold back tilt angle of the iteration until finding puncture needle.
S204: judging within the scope of limit search, and whether the quantity of puncture needle pixel value is maximum value under the angle, if
It is to execute S205, otherwise executes S202.
Algorithm in the process of implementation, when limit range in search maximum PθWhen, iteration is terminated, current angular is exported,
Otherwise continue undated parameter to re-search for, until searching maximum PθUntil.
S205: the angle exported after particle swarm algorithm iteration ends is puncture needle inclination angle in current two-dimensional ultrasonic image
Degree
θ0。
S206: with angle, θ0Centered on and its each 10 degree of range of deflection angles are searched as next frame two-dimensional ultrasonic image up and down
The restriction range of rope puncture needle tilt angle.
S207: output tilt angle theta0。
To sum up, it is contemplated that the linear feature that puncture needle itself has can characterize straight line with tilt angle, have at present very much
With the target of linear characteristic in the direct detection image of method, such as Hough transformation and Radon transform, these algorithms to continuous and
Clearly straight-line target has preferable testing result, but clarity and contrast of the puncture needle in ultrasound image all compare
Difference, it is less desirable to directly adopt above-mentioned algorithm detection puncture needle effect in two-dimensional ultrasonic image, can be tight if error is larger
The tracking of subsequent tip position is influenced again and then increases the risk of puncturing operation, and the present embodiment uses gray value statistic law, knot
The tilt angle of particle swarm algorithm global search puncture needle in the region of restriction is closed, obtained effect is more reliable and more stable.
Embodiment three
It is that a kind of process for puncture needle method for visualizing based on two-dimensional ultrasound image that the present embodiment two provides is shown referring to Fig. 5
It is intended to.The puncture needle method for visualizing, includes the following steps.
S501: estimate obtained tilt angle theta 0 as input embodiment two.
S502: carrying out trend pass filtering to two-dimensional ultrasonic image according to tilt angle theta 0 enhances puncture needle, obtains puncture needle two
The location coordinate information of a endpoint.
In view of the marginal information for some organ-tissue images for including in two-dimensional ultrasonic image can detect band to puncture needle
It interferes, the present embodiment carries out trend pass filtering, Gabor to whole picture ultrasound image according to tilt angle theta 0 using Gabor filter
Filter be one for edge extracting linear filter simultaneously and an effective skin texture detection tool, can be according to pre-
If some angle enhance the straight line information under the angle, while the linear character information under other angles is filtered out, referring to Fig. 6.
Meanwhile the present embodiment detects puncture needle in the enhanced ultrasound image of Gabor trend pass filtering using Ransac algorithm, acquisition is worn
The co-ordinate position information at pricker head and the tail both ends, determines tip position according to the coordinate information of endpoint and calculates area-of-interest.
S503: it obtains the banded zone parallel with needle body and is fabricated to one as area-of-interest, and by the banded zone
Two-value template.
According to the position coordinates of the S502 puncture needle head and the tail endpoint calculated, choosing width is puncture needle needle body diameter
3-5 times and the banded zone parallel with puncture needle needle body as area-of-interest, by the pixel value in the banded zone set 1 other
The pixel value in region sets 0, a two-value template is made, referring to Fig. 7.
S504: doing multiplication for two-value template and the enhanced ultrasound image of trend pass filtering, obtains only emerging containing puncture needle sense
The two-dimensional ultrasonic image in interesting region.
Referring to Fig. 8, the only portion weave structure information containing puncture needle and near it in ultrasound image at this time, in part
Puncture needle is detected in area-of-interest, can exclude the interference of the marginal information of other organ-tissues and then improves the stabilization of algorithm
Property and detection accuracy.
It should be noted that can be filtered again to puncture needle in area-of-interest, further filters out and wear
Pricker tissue around marginal texture information.
S505: in area-of-interest, in angle, θ0Centered on small range region in again use gray value statistic law
Search for optimal tilt angle theta.
Tilt angle theta0It is to use particle swarm algorithm global detection to obtain in whole picture two-dimensional ultrasonic image as a result, can deposit
In certain error, by area-of-interest with angle, θ0Centered on and its upper and lower 5 degree of range of deflection angles in search wear
The optimal tilt angle of pricker is determined with 0.1 degree for step-length by the number of projections of puncture needle gray value under statistics all angles
The optimal tilt angle theta of puncture needle, referring to Fig. 9.
S506: several discrete points are divided by puncture needle is equally spaced, detect all puncture needles in area-of-interest
The coordinate position of discrete point calculates average value.
Referring to Figure 10, the area-of-interest comprising puncture needle is divided into several regions with ray at equal intervals, is retained with every
Centered on ray, width is several area pixel values of s, and the pixel value in other regions sets 0, referring to Figure 11.Between ray
Distance is greater than s, and the direction for being parallel to puncture needle is denoted as to the row vector of image in area-of-interest, is s's to each width
The pixel value of row every in region is averaging respectively, every row pixel characteristic is indicated with the average pixel value of each row, for subtracting by region
Formula 2 is shown in the influence of small local noise,
(2)
In formula, rkRepresent kth ray, R (x, rk) represent the equal of xth row pixel value in zone of dispersion locating for kth ray
Value.The two-dimensional coordinate that puncture needle various discrete point is detected in various discrete region, calculates the average coordinates of all discrete points
Value, is shown in formula 3,
(3)
Assuming that detecting N number of discrete point in total in area-of-interest, the two-dimensional coordinate value of the discrete point detected is averaging.
S507: the axis of puncture needle is determined according to the transverse and longitudinal coordinate of average value and optimal tilt angle theta.
Optimal tilt angle theta is the accurate tilt angle of puncture needle, and coordinate average value P (xo, yo) is located at puncture needle needle body
On, the straight line where puncture needle can be calculated according to point and slope, which is denoted as the axis of puncture needle, referring to Figure 12.
S508: continuous adjacent two field pictures make the difference, and obtain maximum gradation value position coordinates and 8 pixels enclose around it
At a square area.
Next frame two-dimensional ultrasonic image in adjacent two field pictures and former frame ultrasound image are made the difference using frame difference method, due to
Ultrasound image frame frequency is higher, can approximately think that the background image of adjacent two field pictures is identical, is done by two field pictures at this time
The mobile position gray value of difference, only needle point is larger, and the pixel value in remaining region is all zero, at this time by gray scale maximum in image
The position of value is denoted as tip position, intercepts needle point and its pixel region of surrounding 3x3.
The pixel region that the needle point pixel region and frame difference method of S509:Ransac estimation calculate seeks union, falls on axis
Point be considered as needle point.
In order to improve accuracy, by puncture needle endpoint location coordinate that RANSAC algorithm calculates and combine 8 around it
The square area and maximum gradation value position coordinates are obtained using frame difference method and combine around it 8 that a pixel forms
One square area of pixel composition seeks union, falls in set and punctures the needle point position that the point in needle axis is denoted as puncture needle
It sets.
S510:Kalman filters the error dot that substantial deviation track is filtered out to sequence tip position.
Algorithm obtains a series of puncture needle needle point coordinate positions by the ultrasound image of Sequentially continuous, finally sits the sequence
Cursor position is handled by Kalman filter, filters out the error dot of substantial deviation travel track, should according to the estimation of pinpoint movement rule
The correct position of point.
To sum up, puncture needle visualization is main describes puncture needle needle body and label puncture needle needle point, intrinsic according to puncture needle
Linear feature obtains puncture needle by estimating the tilt angle of puncture needle and the coordinate position at detection puncture needle any point
Axis, the axis can characterize puncture needle needle body completely, and joint frame difference method and RANSAC algorithm detect where puncture needle needle point
The intersection point in region, axis and the region is needle point, is puncture needle visualization effect figure referring to Figure 13.
As seen through the above description of the embodiments, those skilled in the art can be understood that above-mentioned implementation
All or part of the steps in example method can be realized by means of software and necessary general hardware platform.Based on such
Understand, substantially the part that contributes to existing technology can be in the form of software products in other words for the technical solution of the application
It embodies, which can store in storage medium, such as ROM/RAM, magnetic disk, CD, including several
Instruction is used so that a computer equipment (can be the network communications such as personal computer, server, or Media Gateway
Equipment, etc.) execute method described in certain parts of each embodiment of the application or embodiment.
It should be noted that each embodiment in this specification is described in a progressive manner, each embodiment emphasis is said
Bright is the difference from other embodiments, and the same or similar parts in each embodiment may refer to each other.For reality
For applying device disclosed in example, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place
Referring to method part illustration.
It should also be noted that, herein, relational terms such as first and second and the like are used merely to one
Entity or operation are distinguished with another entity or operation, without necessarily requiring or implying between these entities or operation
There are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant are intended to contain
Lid non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
The foregoing description of the disclosed embodiments makes professional and technical personnel in the field can be realized or use the application.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the application.Therefore, the application
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.Above embodiments are only to illustrate the technical solution of the application, rather than its limitations；Although referring to aforementioned
The application is described in detail in embodiment, those skilled in the art should understand that: it still can be to aforementioned
Technical solution documented by each embodiment is modified or equivalent replacement of some of the technical features；And these are repaired
Change or replaces, the spirit and scope of each embodiment technical solution of the application that it does not separate the essence of the corresponding technical solution.
Claims (9)
1. a kind of puncture needle method for visualizing based on two-dimensional ultrasound image characterized by comprising
Continuous two-dimensional ultrasonic image is acquired, each frame ultrasound image all includes complete puncture needle image；
Tilt angle is estimated to the puncture needle in every frame ultrasound image；
Obtain the area-of-interest containing puncture needle；
The axis of puncture needle is estimated in area-of-interest；
Real-time detection tracks tip position and exports tip position information.
2. puncture needle method for visualizing according to claim 1, which is characterized in that the tilt angle of the puncture needle is to wear
Angle between pricker and horizontal plane.
3. puncture needle method for visualizing described in claim 1, which is characterized in that estimate the puncture needle in every frame ultrasound image
Tilt angle specifically includes:
The tilt angle of puncture needle is searched in entire image, and limits initial ranging angular range；
All gray values in two-dimensional ultrasonic image are counted each under the angle to projecting under current angular in search process
Quantity containing puncture needle pixel value in row data chooses the maximum value of puncture needle pixel value quantity and is used as similarity measure letter
Number；
The corresponding similarity measure function of some angle is maximum in search process, then it is assumed that the angle is tilt angle.
4. puncture needle method for visualizing according to claim 1, which is characterized in that obtain the region of interest containing puncture needle
Domain specifically includes:
Carrying out trend pass filtering to whole picture ultrasound image according to tilt angle enhances puncture needle, calculates the position of two endpoints of puncture needle
Coordinate；
It chooses the parallel banded zone of needle body and sets 1 as area-of-interest, and by the pixel value in the banded zone, other pixels
Value sets 0, makes a two-value template；
This two-value template and the enhanced image of trend pass filtering are done into multiplication, obtained only containing the area-of-interest of puncture needle.
5. puncture needle method for visualizing according to claim 1, which is characterized in that the axis of the puncture needle is puncture needle
It is similar to the central axes of cylindrical needle body.
6. puncture needle method for visualizing according to claim 1, which is characterized in that estimate the axis of puncture needle, it is specific to wrap
It includes:
In area-of-interest, gray value statistic law is used again in the range of 5 degree of deflection angles up and down centered on tilt angle
Search for optimal tilt angle；
Several zone of dispersion are divided by puncture needle needle body is equally spaced, detect that all puncture needles are each in area-of-interest
The coordinate position of zone of dispersion calculates average value；
The axis of puncture needle is determined according to the transverse and longitudinal coordinate of average value and optimal tilt angle.
7. puncture needle method for visualizing according to claim 1, which is characterized in that real-time detection marks tip position, tool
Body includes:
The endpoint location coordinate of puncture needle and 8 pixels surround around it a square are obtained using RANSAC algorithm
Region；
Continuous adjacent two field pictures are made the difference, maximum gradation value position coordinates is obtained and 8 pixels surrounds around it one
A square area；
Two square areas seek union, fall in the point punctured in needle axis and are considered as needle point.
8. puncture needle method for visualizing according to claim 7, which is characterized in that filter removal to sequence tip position and miss
Difference specifically includes:
The sequence tip position detected from sequence image is filtered using Kalman filter, removes substantial deviation track
Needle point coordinate.
9. puncture needle method for visualizing according to claim 4, which is characterized in that the sense of the acquisition containing puncture needle is emerging
After interesting region, specifically include:
In area-of-interest, enhancing processing is carried out to needle body edge according to shade of gray variation, while filtering out around needle body
Banded improvement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811461736.3A CN109276296A (en) | 2018-12-02 | 2018-12-02 | A kind of puncture needle method for visualizing based on two-dimensional ultrasound image |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811461736.3A CN109276296A (en) | 2018-12-02 | 2018-12-02 | A kind of puncture needle method for visualizing based on two-dimensional ultrasound image |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109276296A true CN109276296A (en) | 2019-01-29 |
Family
ID=65174358
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811461736.3A Pending CN109276296A (en) | 2018-12-02 | 2018-12-02 | A kind of puncture needle method for visualizing based on two-dimensional ultrasound image |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109276296A (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109949254A (en) * | 2019-03-19 | 2019-06-28 | 青岛海信医疗设备股份有限公司 | Puncture needle ultrasound image Enhancement Method and device |
| CN111110332A (en) * | 2020-01-19 | 2020-05-08 | 汕头市超声仪器研究所有限公司 | Optimization method for puncture needle development enhanced image |
| CN111150461A (en) * | 2020-02-04 | 2020-05-15 | 赵天力 | Puncture needle positioning system and method |
| CN111476790A (en) * | 2020-05-14 | 2020-07-31 | 武汉中旗生物医疗电子有限公司 | Method and device for enhancing display of puncture needle in ultrasonic puncture |
| CN112220532A (en) * | 2020-08-24 | 2021-01-15 | 同济大学 | Vein bifurcation avoiding method and venipuncture robot |
| CN112435300A (en) * | 2019-08-26 | 2021-03-02 | 华为技术有限公司 | Positioning method and device |
| CN112907535A (en) * | 2021-02-18 | 2021-06-04 | 江苏省人民医院（南京医科大学第一附属医院） | Auxiliary system for ultrasonic image acquisition teaching task |
| CN112991166A (en) * | 2019-12-16 | 2021-06-18 | 无锡祥生医疗科技股份有限公司 | Intelligent auxiliary guiding method, ultrasonic equipment and storage medium |
| CN113349897A (en) * | 2021-07-13 | 2021-09-07 | 安徽科大讯飞医疗信息技术有限公司 | Ultrasonic puncture guiding method, device and equipment |
| CN113379664A (en) * | 2021-06-23 | 2021-09-10 | 青岛海信医疗设备股份有限公司 | Method for enhancing ultrasonic puncture needle in ultrasonic image, ultrasonic device and storage medium |
| CN114886521A (en) * | 2022-05-16 | 2022-08-12 | 上海睿刀医疗科技有限公司 | Device and method for determining the position of a puncture needle |
| CN116523904A (en) * | 2023-06-26 | 2023-08-01 | 深圳市佳合丰科技有限公司 | Artificial intelligence-based metal stamping part surface scratch detection method |
| WO2024008100A1 (en) * | 2022-07-06 | 2024-01-11 | 杭州堃博生物科技有限公司 | Needle biopsy site positioning method and apparatus, and storage medium |
-
2018
- 2018-12-02 CN CN201811461736.3A patent/CN109276296A/en active Pending
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109949254A (en) * | 2019-03-19 | 2019-06-28 | 青岛海信医疗设备股份有限公司 | Puncture needle ultrasound image Enhancement Method and device |
| CN112435300A (en) * | 2019-08-26 | 2021-03-02 | 华为技术有限公司 | Positioning method and device |
| CN112435300B (en) * | 2019-08-26 | 2024-06-04 | 华为云计算技术有限公司 | Positioning method and device |
| CN112991166A (en) * | 2019-12-16 | 2021-06-18 | 无锡祥生医疗科技股份有限公司 | Intelligent auxiliary guiding method, ultrasonic equipment and storage medium |
| CN111110332A (en) * | 2020-01-19 | 2020-05-08 | 汕头市超声仪器研究所有限公司 | Optimization method for puncture needle development enhanced image |
| CN111150461A (en) * | 2020-02-04 | 2020-05-15 | 赵天力 | Puncture needle positioning system and method |
| CN111476790A (en) * | 2020-05-14 | 2020-07-31 | 武汉中旗生物医疗电子有限公司 | Method and device for enhancing display of puncture needle in ultrasonic puncture |
| CN112220532A (en) * | 2020-08-24 | 2021-01-15 | 同济大学 | Vein bifurcation avoiding method and venipuncture robot |
| CN112220532B (en) * | 2020-08-24 | 2022-04-05 | 同济大学 | Vein bifurcation avoiding method and venipuncture robot |
| CN112907535A (en) * | 2021-02-18 | 2021-06-04 | 江苏省人民医院（南京医科大学第一附属医院） | Auxiliary system for ultrasonic image acquisition teaching task |
| CN112907535B (en) * | 2021-02-18 | 2023-05-12 | 江苏省人民医院（南京医科大学第一附属医院） | Auxiliary system for ultrasonic image acquisition teaching task |
| CN113379664B (en) * | 2021-06-23 | 2022-11-25 | 青岛海信医疗设备股份有限公司 | Method for enhancing ultrasonic puncture needle in ultrasonic image, ultrasonic device and storage medium |
| CN113379664A (en) * | 2021-06-23 | 2021-09-10 | 青岛海信医疗设备股份有限公司 | Method for enhancing ultrasonic puncture needle in ultrasonic image, ultrasonic device and storage medium |
| CN113349897A (en) * | 2021-07-13 | 2021-09-07 | 安徽科大讯飞医疗信息技术有限公司 | Ultrasonic puncture guiding method, device and equipment |
| CN114886521A (en) * | 2022-05-16 | 2022-08-12 | 上海睿刀医疗科技有限公司 | Device and method for determining the position of a puncture needle |
| WO2024008100A1 (en) * | 2022-07-06 | 2024-01-11 | 杭州堃博生物科技有限公司 | Needle biopsy site positioning method and apparatus, and storage medium |
| CN116523904A (en) * | 2023-06-26 | 2023-08-01 | 深圳市佳合丰科技有限公司 | Artificial intelligence-based metal stamping part surface scratch detection method |
| CN116523904B (en) * | 2023-06-26 | 2023-09-08 | 深圳市佳合丰科技有限公司 | Artificial intelligence-based metal stamping part surface scratch detection method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109276296A (en) | A kind of puncture needle method for visualizing based on two-dimensional ultrasound image | |
| US20220192611A1 (en) | Medical device approaches | |
| Vercauteren et al. | Cai4cai: the rise of contextual artificial intelligence in computer-assisted interventions | |
| US20230384734A1 (en) | Method and system for displaying holographic images within a real object | |
| US20210059762A1 (en) | Motion compensation platform for image guided percutaneous access to bodily organs and structures | |
| JP7277967B2 (en) | 3D imaging and modeling of ultrasound image data | |
| US9827053B2 (en) | Intraoperative tracking method | |
| ES2718543T3 (en) | System and procedure for navigation based on merged images with late marker placement | |
| Puerto-Souza et al. | Toward long-term and accurate augmented-reality for monocular endoscopic videos | |
| US9757202B2 (en) | Method and system of determining probe position in surgical site | |
| CN110432986B (en) | System and method for constructing virtual radial ultrasound images from CT data | |
| US10588702B2 (en) | System and methods for updating patient registration during surface trace acquisition | |
| JP2013517909A (en) | Image-based global registration applied to bronchoscopy guidance | |
| JP2016525000A (en) | Alignment system for aligning an imaging device with a tracking device | |
| CN103180014A (en) | Motion compensation for non-invasive treatment therapies | |
| JP3696616B2 (en) | Ultrasonic diagnostic equipment | |
| Tonet et al. | Tracking endoscopic instruments without a localizer: a shape-analysis-based approach | |
| CN106236264A (en) | The gastrointestinal procedures air navigation aid of optically-based tracking and images match and system | |
| JP2023508397A (en) | 3D pathfinding visualization | |
| JP3720839B2 (en) | Ultrasonic diagnostic equipment | |
| US20230248441A1 (en) | Extended-reality visualization of endovascular navigation | |
| Penza et al. | Enhanced vision to improve safety in robotic surgery | |
| US20240216010A1 (en) | Method and device for registration and tracking during a percutaneous procedure | |
| CN116528752A (en) | Automatic segmentation and registration system and method | |
| Kirmizibayrak | Interactive volume visualization and editing methods for surgical applications |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190129 |