CN109512465B - Acoustic radiation force bidirectional shear wave composite imaging method and device - Google Patents
Acoustic radiation force bidirectional shear wave composite imaging method and device Download PDFInfo
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Abstract
The invention mainly provides a method and a device for acoustic radiation force bidirectional shear wave compound imaging. Echo signals of a specified position of the observation region are then acquired by ultrasound. And carrying out deformation estimation operation on the echo signals of all detection positions, and selecting shear wave deformation estimation results in different propagation directions by using a directional filtering technology. And then obtaining the estimation results of the wave velocity of the shear wave which propagates in different directions, and weighting and compounding the two results to obtain the final shear wave elasticity result. The invention can generate two frames of elastic images for composite optimization only by one group of impact. The quality of the elastic image is improved under the condition of keeping the frame rate of the elastic image unchanged.
Description
Technical Field
The invention relates to the field of ultrasonic imaging, in particular to a method and a device for acoustic radiation force bidirectional shear wave compound imaging.
Background
The shear wave elastography technology can realize real-time hardness quantitative detection of biological tissues and provide a basis for clinically judging the pathological changes of the tissues. Its basic principle is as follows: the acoustic radiation force focusing impact energy can generate shear waves in tissues, and due to the fact that the propagation speeds of the shear waves in the tissues with different hardness are different, the hardness and softness of the positions can be indirectly reflected by detecting the propagation speeds of the shear waves in the different positions. And performing pseudo-color mapping according to the wave velocity of the shear wave to obtain shear wave elastic imaging. Therefore, the accuracy of shear wave velocity estimation is crucial to the determination of tissue elasticity.
The shear wave can cause the displacement deformation of the tissue in the tissue propagation process, and the shear wave vibration curve of the observation position is reconstructed through the displacement deformation. And finally, performing peak matching on the shear wave vibration curves reconstructed at different positions of the observation position by using a shear wave velocity estimation method, and finding out a peak difference time interval, wherein the interval can be understood as the time for the shear wave to propagate from the two detection positions. And the distance between the two sensing locations is known, and the average velocity of the shear wave passing between the two sensing locations is found by dividing the distance by the time. And performing pseudo-color mapping according to the shear wave velocity value of the detection region and superposing the pseudo-color mapping on the ultrasonic gray-scale image to form a shear wave elastic graph.
Shear waves can be generated in human tissues through acoustic radiation force focusing impact, and common acoustic radiation force impact methods include single-focus impact or multi-focus impact (Mach cone effect) and the like. The single-focus acoustic radiation force impact generates shear waves which are propagated approximately in a spherical shape by taking a focus as a source, and the shear waves generated by the method are weaker and have smaller propagation range; the multi-focus acoustic radiation force impact utilizes the Mach cone effect to generate shear waves in a nearly planar form, so that the shear wave effect is enhanced, and the propagation area is larger. However, shear waves decay very rapidly as they propagate through human tissue. The shear signal-to-noise ratio near the location where the acoustic radiation force impinges on the source is significantly higher than the shear signal-to-noise ratio at a location further away. Resulting in a less accurate shear wave velocity estimation in an elastic measurement region, away from the location of the shear wave source. According to the method, sound radiation force impact is carried out on the same observation area at different positions, a plurality of shear wave elastic diagrams are finally formed, and finally the final shear wave elastic diagram of the observation area is formed through composite superposition. The method improves the quality of the final shear wave elastogram, but the time consumption for forming a plurality of shear wave elastograms is too long, and acoustic radiation force impact is required to be carried out on different positions of tissues for many times. The actual human tissue state is changed by motion, the background of the multiple shear wave elastograms in the forming process is actually changed, and the final composite shear wave elastogram does not accurately reflect the real elastic condition of the tissue.
Disclosure of Invention
In order to solve the problems, the invention mainly provides an acoustic radiation force bidirectional shear wave compound imaging method and device. Echo signals of a specified position of the observation region are then acquired by ultrasound. And carrying out deformation estimation operation on the echo signals of all detection positions, and selecting shear wave deformation estimation results in different propagation directions by using a directional filtering technology. And then obtaining the estimation results of the wave velocity of the shear wave which propagates in different directions, and weighting and compounding the two results to obtain the final shear wave elasticity result.
The technical scheme adopted by the invention for realizing the technical purpose is as follows: a acoustic radiation force bidirectional shear wave compound imaging method comprises the steps that acoustic radiation force focusing impact is carried out on two sides of a selected elastic observation area according to the preset acoustic radiation force impact focal position and sequence; collecting ultrasonic echo data of each detection position on each transverse detection position line; the processing of the acquired ultrasound echo data comprises the steps of:
shear wave velocity complex value a V1+ b V2
In the formula: a and b are positive weighting coefficients, and a + b is more than 0 and less than or equal to 1; v1 and V2 are shear wave velocity values in two directions respectively;
in the formula: g denotes the resulting grey scale value, V denotes the shear wave complex velocity, Vmax、VminRepresenting the shear wave complex velocity maximum and minimum, respectively.
The method generates two shear waves which are transmitted along different directions from different sources by performing acoustic radiation force impact on a selected position. Reasonably covering the tissue area to be observed. And then, selecting shear wave variation estimation results in different directions by a directional filtering technology to carry out shear wave velocity estimation so as to obtain shear wave velocity results in two groups of different directions and passing through the same observation area. The method makes up the difference of the shear wave velocity estimation signal-to-noise ratios at different positions caused by attenuation during shear wave propagation, improves the shear wave velocity estimation signal-to-noise ratio of the whole observation area, and enables the elastic result of the observation area to be more accurate. In addition, the invention can generate two frames of elastic images for composite optimization only by one group of impact. The quality of the elastic image is improved under the condition of keeping the frame rate of the elastic image unchanged.
Further, in the above acoustic radiation force bidirectional shear wave complex imaging method: the position of the impact focus is at the left and right boundary positions or the upper and lower boundary positions of the selected observation area; the interval of the impact focuses is 3-10 mm; the impulse length of the acoustic radiation force impact is 30-100 us; the repetition frequency of the acoustic radiation force impact pulse is 0.5-5 kHz; the acoustic radiation force focus impingement sequence may be from top to bottom or from left to right.
Further, in the above acoustic radiation force bidirectional shear wave complex imaging method: in the step 1, the deformation estimation operation performs the following normalized cross-correlation operation on the data acquired at the adjacent times of the same detection position line:
uT＝Cτ/2
in the formula: srFor the current ultrasonic RF echo signal, sdWhen the next ultrasonic radio frequency echo signal is the ultrasonic echo with R as the cross correlation coefficient and tau as the corresponding displacement valueAnd (4) the inter-delay, c is the ultrasonic propagation speed, and T is the signal segment period length.
Further, in the above acoustic radiation force bidirectional shear wave complex imaging method: in step 2, the process of directional filtering is as follows:
and 2.1, performing two-dimensional Fourier transform on the deformation-time result matrix of each detection position line.
And 2.2, multiplying the two groups of directional filter operator matrixes in different directions.
2.3, performing two-dimensional Fourier inverse transformation; and selecting a result real part as a final filtering result.
Further, in the above acoustic radiation force bidirectional shear wave complex imaging method:
in step 2.2, the two sets of directional filter operator matrixes in different directions are:
the invention also provides a sound radiation force bidirectional shear wave compound imaging device for realizing the method, which comprises a device for performing sound radiation force focusing impact of sound radiation force focusing impact according to the preset sound radiation force impact focal position and sequence from two sides of the selected elastic observation area, an ultrasonic echo data acquisition device for acquiring ultrasonic echo data of each detection position on each transverse detection position line, and a data processing device for processing the data acquired by the ultrasonic echo data acquisition device; the data processing device comprises: a module for performing deformation estimation operation on the ultrasonic echo data to form a deformation-time result matrix; a module for performing directional filtering on the deformation-time result matrix of each detection position line; a module for drawing a deformation-time curve of each detection position line after direction filtering; a module for fitting a "time-distance" line; a module for calculating a final shear wave velocity value; a shear wave velocity compounding module; a module that generates an elastic image.
Further, in the above acoustic radiation force bidirectional shear wave complex imaging apparatus: the impulse length of the sound radiation force impact pulse of the device for focusing and impacting the sound radiation force is 30-100 us; the repetition frequency of the sound radiation force impact pulse is 0.5-5 kHz.
Further, in the above acoustic radiation force bidirectional shear wave complex imaging apparatus: the module for performing direction filtering on the deformation-time result matrix of each detection position line comprises: a module for performing two-dimensional Fourier transform on the deformation-time result matrix of each detection position line; a matrix multiplication module of the directional filter operators in two groups of different directions; and carrying out a two-dimensional Fourier inverse transformation module.
The invention is further described with reference to the following figures and detailed description.
Drawings
FIG. 1 is a flow chart of example 1 of the present invention.
Fig. 2 is a schematic diagram of an acoustic radiation force impact focal track in embodiment 1 of the present invention.
FIG. 3 is a schematic diagram showing the propagation of shear waves in example 1 of the present invention.
Fig. 4 is a diagram illustrating an embodiment 1 of the present invention for acquiring an ultrasonic echo signal along a detection position line.
Fig. 5 shows the deformation estimation results of each detection position after direction filtering in embodiment 1 of the present invention.
FIG. 6 shows the fitting of a "time-distance" straight line in example 1 of the present invention.
Detailed Description
The acoustic radiation force bidirectional shear wave composite imaging device is used in the biological tissue elasticity measurement process, an elasticity observation area is selected, and then the following steps are carried out: as shown in fig. 1.
Step 1: and according to the selected elastic observation area, performing acoustic radiation force focusing impact by using the acoustic radiation force focusing impact device according to the preset acoustic radiation force impact focal position and sequence, as shown in the attached figure 2. There are six acoustic radiation force impact foci, respectively on both sides of the elastic observation area a, F1, F2, F3, F4, F5 and F6, in order from top to bottom, wherein the transverse X-position of the impact foci can be selected, for example: observing the left and right boundary positions of the area A; the longitudinal Y-direction position of the impact focus can be selected from the upper boundary position and the lower boundary position of the observation region, and the longitudinal interval size of the focus, namely the interval between F1, F3 and F5 or F2, F4 and F6 can be selected from the following steps: 5mm, generally between 3-10 mm; the acoustic radiation force impact pulse length may be selected, for example: 50us, generally selected in the range of 30-100 us. The acoustic radiation force impulse repetition frequency may be selected, for example: 1kHz, generally selected between 500Hz-10 KHz; the focus impact sequence of the acoustic radiation force can be selected from the focus sequence number sequence in the attached figure 2, and the focus impact can be performed from top to bottom. The number of acoustic radiation force impact foci may be selected, for example: 6 focal points; the shear wave propagation path generated by this step is substantially as shown at S1 and S2 in fig. 3.
Step 2: after the acoustic radiation force focusing impact step is completed, each lateral detection position line position is selected, as shown in fig. 4, along the detection position line, for example: 8, in practice, at least 2 detection position lines can be selected. The method comprises the following steps of collecting ultrasonic echo signals, collecting ultrasonic echo data on a detection line, wherein the collection times of each detection position can be selected from the following examples: 50 times, and practically 30-100 times. The acquisition repetition frequency may be selected, for example: 1 kHz; in practice it is possible to choose between 500Hz and 5 KHz. The detection positions are distributed on the detection lines, and the collected data points on one line can be 500-2048 points, and in practice, 1024 points can be selected.
And step 3: and performing deformation estimation operation according to echo data of each detection position. The deformation estimation algorithm may select, for example: normalized cross-correlation operation, as shown in equation (1) below: carrying out normalized cross-correlation operation on the data acquired by the same detection position line and adjacent times, wherein srFor the current ultrasonic RF echo signal, sdNext time of ultrasonic radio frequency echo signals, R is a cross correlation coefficient, tau is ultrasonic echo time delay corresponding to a displacement value, c is an ultrasonic propagation speed, and T is a signal segment period length; the result tau corresponding to the maximum value of R is the adjacent echo time delay, and the deformation value u is obtained by calculation according to the formula 2τ；
uτ＝cτ/2 (2)
And 4, step 4: and (3) performing two-dimensional Fourier transform on the deformation-time result matrix of each detection position line obtained in the step (3), multiplying the result matrix by two groups of directional filter operator matrixes in different directions, performing two-dimensional inverse Fourier transform, and selecting a real number part of the result as a final result to obtain two groups of filtering results in different directions. The directional filter operator may be selected as follows:
in the direction gating operator matrix, Dir _ Mask _ L indicates that a left-to-right direction is selected, and Dir _ Mask _ R indicates a right-to-left direction. The internal structure of the Dir _ Mask _ L operator is that an operator matrix is divided into four parts, the range part of the 1 st quadrant and the 3 rd quadrant is 1, and the rest part is 0. Dir _ Mask _ L is a central symmetry operator. The Dir _ Mask _ R operator is constructed in the same way, and the data values are opposite, and are not repeated here.
And 5: the direction-filtered "deformation-time" curve for each detected position is made, as shown in fig. 5, and the left direction-filtered "deformation-time" curve for each detected position is made for one depth. Searching the peak value of each deformation-time curve in the graph, and recording the transverse coordinate value, namely the time value, corresponding to the peak value.
Step 6: according to the time value corresponding to the peak value and the physical distance value of the detection position in the step 5, a fitting time-distance straight line is made; as shown in fig. 6. And obtaining the shear wave velocity value by calculating the reciprocal of the slope of the time-distance straight line. And obtaining the final shear wave velocity value after the directional filtering result in the other direction.
And 7: and (3) compounding the shear wave velocity values in the two directions, and calculating as shown in formula 5: wherein a and b are positive weighting coefficients, and a + b is more than 0 and less than or equal to 1; v1 and V2 are shear wave velocity values in different directions. a and b are optional: 0.5.
shear wave velocity complex value a V1+ b V2 (5)
And 8: repeating the steps 3 to 7 to obtain the shear wave composite velocity value of the whole elastic imaging area, and mapping the shear wave composite velocity value to gray scale of 0-255 according to the linearity of the formula 6: where G represents the resulting gray scale value, V represents the shear wave complex velocity, Vmax、VminRepresenting the shear wave complex velocity maximum and minimum, respectively.
Claims (7)
1. A acoustic radiation force bidirectional shear wave compound imaging method comprises the steps that acoustic radiation force focusing impact is carried out on two sides of a selected elastic observation area according to the preset acoustic radiation force impact focal position and sequence; collecting ultrasonic echo data of each detection position on each transverse detection position line; the method is characterized in that: the position of the impact focus is at the left and right boundary positions or the upper and lower boundary positions of the selected observation area; the impact sequence of the acoustic radiation force focus is from top to bottom or from left to right; the processing of the acquired ultrasound echo data comprises the steps of:
step 1, performing shearing waveform variable estimation operation on ultrasonic echo data; in the step, the deformation estimation operation is carried out on the ultrasonic echo data collected on each transverse detection position line to form a deformation-time result matrix;
step 2, performing directional filtering on the deformation estimation result; in the step, directional filtering is carried out on a deformation-time result matrix of each detection position line; the process of directional filtering is as follows:
step 2.1, performing two-dimensional Fourier transform on a deformation-time result matrix of each detection position line;
step 2.2, multiplying the two groups of directional filter operator matrixes in different directions;
2.3, performing two-dimensional Fourier inverse transformation; selecting a result real part as a final filtering result;
step 3, drawing a deformation-time curve of each detection position line after direction filtering;
step 4, fitting a time-distance straight line; in the step, a fitting time-distance straight line is formed according to the time value corresponding to the peak value of each deformation-time curve and the physical distance value of the detection position;
step 5, calculating the final shear wave velocity value; the method comprises the following steps: the reciprocal of the slope of the time-distance straight line is obtained, and then the shear wave speed value can be obtained;
step 6, compounding shear wave speed; in this step, the shear wave velocity values in the two directions are combined, and the following calculation is performed:
in the formula: a and b are positive weighting coefficients, and a + b is more than 0 and less than or equal to 1; v1 and V2 are shear wave velocity values in two directions respectively;
step 7, generating an elastic image; repeating the steps 1 to 6 to obtain a shear wave composite velocity value of the whole elastic imaging area, and performing gray mapping operation according to the following formula:
in the formula: g denotes the resulting grey scale value, V denotes the shear wave complex velocity, Vmax、VminRepresenting the shear wave complex velocity maximum and minimum, respectively.
2. The acoustic radiation force bidirectional shear wave complex imaging method of claim 1, wherein: the interval of the impact focuses is 3-10 mm; the impulse length of the acoustic radiation force impact is 30-100 us; the repetition frequency of the sound radiation force impact pulse is 0.5-5 kHz.
3. The acoustic radiation force bidirectional shear wave complex imaging method of claim 1, wherein: in the step 1, the deformation estimation operation performs the following normalized cross-correlation operation on the data acquired at the adjacent times of the same detection position line:
in the formula: srFor the current ultrasonic RF echo signal, sdR is the cross-correlation coefficient for the next ultrasonic radio frequency echo signal,
ultrasonic echo time delay corresponding to displacement value, c ultrasonic propagation speed, and T signalNumber segment period length;
finding the result corresponding to the maximum value of R
(ii) a The deformation value was obtained by the following formula
：
4. The acoustic radiation force bidirectional shear wave complex imaging method of claim 3, wherein:
in step 2.2, the two sets of directional filter operator matrixes in different directions are:
where Dir _ Mask _ L represents the left-to-right direction and Dir _ Mask _ R represents the right-to-left direction.
5. A realize the acoustic radiation force two-way shear wave compound image device of compound image method stated in claim 1, including from both sides of selected elastic observation area, according to the acoustic radiation force impact focus position presumed in advance and order, carry on the device that the acoustic radiation force focuses on the impact of the impact, gather the ultrasonic echo data acquisition unit of the ultrasonic echo data of every detection position on every horizontal detection position line, data processing unit to the data gathered of the ultrasonic echo data acquisition unit; the method is characterized in that: the data processing device comprises:
a module for performing deformation estimation operation on the ultrasonic echo data to form a deformation-time result matrix;
a module for performing directional filtering on the deformation-time result matrix of each detection position line;
a module for drawing a deformation-time curve of each detection position line after direction filtering;
a module for fitting a "time-distance" line;
a module for calculating a final shear wave velocity value;
a shear wave velocity compounding module;
a module that generates an elastic image.
6. The acoustic radiation force bidirectional shear wave complex imaging apparatus of claim 5, wherein: the impulse length of the sound radiation force impact pulse of the device for focusing and impacting the sound radiation force is 30-100 us; the repetition frequency of the sound radiation force impact pulse is 0.5-5 kHz.
7. The acoustic radiation force bidirectional shear wave complex imaging apparatus of claim 5, wherein: the module for performing direction filtering on the deformation-time result matrix of each detection position line comprises:
a module for performing two-dimensional Fourier transform on the deformation-time result matrix of each detection position line;
a matrix multiplication module of the directional filter operators in two groups of different directions;
and carrying out a two-dimensional Fourier inverse transformation module.
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| CN110927729B (en) * | 2019-11-09 | 2022-04-01 | 天津大学 | Acoustic radiation force pulse elastography method based on displacement attenuation characteristics |
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