Summary of the invention
In view of this, one of the technical issues of the embodiment of the present application is solved is to provide a kind of image interfusion method and dress
It sets, can be realized the real space position for accurately obtaining each internal organs in body when human body is breathed.
In a first aspect, the embodiment of the present application provides a kind of image interfusion method, comprising:
Using electromagnetism tracing equipment, electromagnetic identification and marker, establishes and turn between ultrasound coordinates system and three-dimensional system of coordinate
Change relationship;
It is according to the transformational relation between ultrasound coordinates system and three-dimensional system of coordinate, ultrasound image is unified to same with 3-D image
Image under one coordinate system, after obtaining ultrasound image and 3-D image real time fusion.
Optionally, described using electromagnetism tracing equipment, electromagnetic identification and marker, in ultrasound coordinates system and three-dimensional system of coordinate
Between the step of establishing transformational relation include:
According to the positional relationship between the marker that body surface is arranged in and electromagnetic identification corresponding with marker, electromagnetism
Three-dimensional sit is established in position of the tracing equipment to the real-time tracing and the marker of the electromagnetic identification in 3-D image
Transformational relation between mark system and electromagnetism coordinate system;
According to the positional relationship and electromagnetism tracing equipment between the electromagnetic identification and ultrasonic probe being arranged on ultrasonic probe
To the real-time tracing of the electromagnetic identification, the transformational relation between ultrasound coordinates system and electromagnetism coordinate system is established;
According between three-dimensional system of coordinate and electromagnetism coordinate system transformational relation and ultrasound coordinates system and electromagnetism coordinate system it
Between transformational relation, establish transformational relation between ultrasound coordinates system and three-dimensional system of coordinate.
Optionally, it is closed according to the position between the marker that body surface is arranged in and electromagnetic identification corresponding with marker
System, position of the electromagnetism tracing equipment to the real-time tracing and the marker of the electromagnetic identification in 3-D image are established
Transformational relation between three-dimensional system of coordinate and electromagnetism coordinate system includes:
According to the positional relationship being arranged between the marker and electromagnetic identification on body surface, obtains marker and be arranged
Coordinate under the mark coordinate system that electromagnetic identification on body surface is possessed;
According to electromagnetism tracing equipment to the real-time tracing of the electromagnetic identification, obtain mark coordinate system and electromagnetism coordinate system it
Between transformational relation;
It is closed according to the conversion between coordinate of the marker in the case where identifying coordinate system, and mark coordinate system and electromagnetism coordinate system
System, obtains coordinate of the marker under electromagnetism coordinate system;
According to coordinate of the obtained marker in position of the marker in 3-D image under three-dimensional system of coordinate, Yi Jibiao
Remember coordinate of the object under electromagnetism coordinate system, establishes the transformational relation between three-dimensional system of coordinate and electromagnetism coordinate system.
Optionally, according to the positional relationship and electromagnetism between the electromagnetic identification and ultrasonic probe being arranged on ultrasonic probe
Tracing equipment establishes the step of the transformational relation between ultrasound coordinates system and electromagnetism coordinate system to the real-time tracing of the electromagnetic identification
Suddenly specifically:
According to ultrasonic probe and the positional relationship being fixed between the electromagnetic identification on ultrasonic probe, ultrasound coordinates system is obtained
And the transformational relation identified between coordinate system that the electromagnetic identification being fixed on ultrasonic probe is possessed;
According to electromagnetism tracing equipment to the real-time tracking of the electromagnetic identification, obtain mark coordinate system and electromagnetism coordinate system it
Between transformational relation;
According to ultrasound coordinates system and mark coordinate system between transformational relation, and mark coordinate system and electromagnetism coordinate system it
Between transformational relation, obtain the transformational relation between ultrasound coordinates system and electromagnetism coordinate system.
Optionally, the positional relationship between marker and the electromagnetic identification that body surface is set specifically:
With body surface at least two fixed electromagnetic identifications, at least one electromagnetic identification and at least three non-colinears
Marker between positional relationship fix, and at most there is fixed positional relationship with electromagnetic identification in each marker,
At least there is fixed positional relationship with a marker in each electromagnetic identification.
Optionally, the positional relationship between marker and the electromagnetic identification that body surface is set specifically: with body
In at least two fixed electromagnetic identifications of table, the positional relationship between each electromagnetic identification and at least three non-colinear markers
It is fixed, and at most there is fixed positional relationship with an electromagnetic identification in each marker.
Optionally, the transformational relation according between ultrasound coordinates system and three-dimensional system of coordinate, by ultrasound image and three-dimensional
Under image unification to the same coordinate system, the image after obtaining ultrasound image and 3-D image real time fusion specifically:
According to coordinate of the pixel each in ultrasound image under ultrasound coordinates system, each pixel is sat in three-dimensional in 3-D image
Transformational relation between mark system lower coordinate and ultrasound coordinates system and three-dimensional system of coordinate, by pixel each in ultrasound image with
In 3-D image under each pixel unification to the same coordinate system, the real time position relationship of ultrasound image and 3-D image is obtained, and
Image co-registration is carried out according to the real time position relationship of ultrasound image and 3-D image, ultrasound image is obtained and 3-D image melts in real time
Image after conjunction.
Second aspect, the embodiment of the present application also provides a kind of image fusion devices, including three-D ultrasonic transformational relation mould
Block and three-dimensional ultrasound pattern Fusion Module, wherein
Three-D ultrasonic transformational relation module is connect with three-dimensional ultrasound pattern Fusion Module, is used for: electromagnetism tracing equipment is utilized,
Electromagnetic identification and marker, establish transformational relation between ultrasound coordinates system and three-dimensional system of coordinate, and by ultrasound coordinates system and three
Transformational relation between dimension coordinate system is sent to three-dimensional ultrasound pattern Fusion Module;
Three-dimensional ultrasound pattern Fusion Module is connect with three-D ultrasonic transformational relation module, is used for:
According to the transformational relation between the ultrasound coordinates system received and three-dimensional system of coordinate, by ultrasound image and 3-D image
Image under unification to the same coordinate system, after obtaining ultrasound image and 3-D image real time fusion.
Optionally, the three-D ultrasonic transformational relation module includes 3 D electromagnetic transformational relation module, ultrasonic electromagnetic conversion
Relationship module and three-D ultrasonic transformational relation module, wherein
3 D electromagnetic transformational relation module is connected with three-D ultrasonic transformational relation module, is used for: according to setting in body
Positional relationship between the marker of table and electromagnetic identification corresponding with marker, electromagnetism tracing equipment is to the electromagnetic identification
The position of real-time tracing and the marker in 3-D image is established between three-dimensional system of coordinate and electromagnetism coordinate system and is turned
Relationship is changed, and sends three-D ultrasonic transformational relation module for the transformational relation between three-dimensional system of coordinate and electromagnetism coordinate system;
Ultrasonic electromagnetism transformational relation module is connected with three-D ultrasonic transformational relation module, is used for: being set according on ultrasonic probe
Positional relationship and electromagnetism tracing equipment chasing after in real time to the electromagnetic identification between the electromagnetic identification set and ultrasonic probe
Track establishes the transformational relation between ultrasound coordinates system and electromagnetism coordinate system, and will be between ultrasound coordinates system and electromagnetism coordinate system
Transformational relation is sent to three-D ultrasonic transformational relation module;
Three-D ultrasonic transformational relation module is connected with 3 D electromagnetic transformational relation module and ultrasonic electromagnetism transformational relation module,
For:
According to the transformational relation and ultrasound coordinates system and electromagnetism between the three-dimensional system of coordinate received and electromagnetism coordinate system
Transformational relation between coordinate system establishes transformational relation between ultrasound coordinates system and three-dimensional system of coordinate.
Optionally, 3 D electromagnetic transformational relation module further includes mark coordinate unit, identifies electromagnetic conversion relation unit, electricity
Magnetic coordinate unit, 3 D electromagnetic transformational relation unit, in which:
Mark coordinate unit is connect with electromagnetism coordinate unit, for according to the marker and electromagnetism being arranged on body surface
Positional relationship between mark obtains marker under the mark coordinate system that the electromagnetic identification being arranged on body surface is possessed
Coordinate, and coordinate of the marker in the case where identifying coordinate system is sent to electromagnetism coordinate unit;
Mark electromagnetic conversion relation unit is connect with electromagnetism coordinate unit, is used for according to electromagnetism tracing equipment to the electromagnetism
The real-time tracing of mark obtains the transformational relation between mark coordinate system and electromagnetism coordinate system, and mark coordinate system and electromagnetism
Transformational relation between coordinate system is sent to electromagnetism coordinate unit;
Electromagnetism coordinate unit is connected with mark coordinate unit and mark electromagnetic conversion relation unit, is received for basis
Transformational relation between coordinate of the marker in the case where identifying coordinate system, and mark coordinate system and electromagnetism coordinate system, obtains marker
Coordinate under electromagnetism coordinate system, and coordinate of the marker under electromagnetism coordinate system is sent to 3 D electromagnetic transformational relation list
Member;
3 D electromagnetic transformational relation unit is connected with electromagnetism coordinate unit, for the position according to marker in 3-D image
Coordinate of the obtained marker under three-dimensional system of coordinate is set, and coordinate of the marker received under electromagnetism coordinate system,
Establish the transformational relation between three-dimensional system of coordinate and electromagnetism coordinate system.
Optionally, ultrasonic electromagnetism transformational relation module includes: ultrasonic signals transformational relation unit, identifies electromagnetic conversion relationship
Unit and ultrasonic electromagnetism transformational relation unit, in which:
Ultrasonic signals transformational relation unit is connected with ultrasonic electromagnetism transformational relation unit, is used for: according to ultrasonic probe and admittedly
The positional relationship being scheduled between the electromagnetic identification on ultrasonic probe, the electromagnetism for obtaining ultrasound coordinates system and being fixed on ultrasonic probe
The transformational relation between possessed mark coordinate system is identified, and the transformational relation between ultrasound coordinates system and mark coordinate system
It is sent to ultrasonic electromagnetism transformational relation unit;
Mark electromagnetic conversion relation unit is connected with ultrasonic electromagnetism transformational relation unit, is used for: according to electromagnetism tracing equipment
To the real-time tracking of the electromagnetic identification, the transformational relation between mark coordinate system and electromagnetism coordinate system is obtained, and mark is sat
Transformational relation between mark system and electromagnetism coordinate system is sent to ultrasonic electromagnetism transformational relation unit;
Ultrasonic electromagnetism transformational relation unit and ultrasonic signals transformational relation unit and mark electromagnetic conversion relation unit connect
It connects, is used for:
According to the transformational relation between the ultrasound coordinates system received and mark coordinate system, and mark coordinate system and electromagnetism
Transformational relation between coordinate system obtains the transformational relation between ultrasound coordinates system and electromagnetism coordinate system.
Optionally, in image fusion device, the position between marker and the electromagnetic identification that body surface is arranged in is closed
System specifically:
With body surface at least two fixed electromagnetic identifications, at least one electromagnetic identification and at least three non-colinears
Marker between positional relationship fix, and at most there is fixed positional relationship with electromagnetic identification in each marker,
At least there is fixed positional relationship with a marker in each electromagnetic identification.
Optionally, in image fusion device, the position between marker and the electromagnetic identification that body surface is arranged in is closed
System specifically:
With body surface at least two fixed electromagnetic identifications, each electromagnetic identification and at least three non-colinear labels
Positional relationship between object is fixed, and each marker at most has fixed positional relationship with an electromagnetic identification.
Optionally, three-dimensional ultrasound pattern Fusion Module is specifically used for:
According to coordinate of the pixel each in ultrasound image under ultrasound coordinates system, each pixel is sat in three-dimensional in 3-D image
Transformational relation between mark system lower coordinate and ultrasound coordinates system and three-dimensional system of coordinate, by pixel each in ultrasound image with
In 3-D image under each pixel unification to the same coordinate system, the real time position relationship of ultrasound image and 3-D image is obtained, and
Image co-registration is carried out according to the real time position relationship of ultrasound image and 3-D image, ultrasound image is obtained and 3-D image melts in real time
Image after conjunction.
By above technical scheme as it can be seen that the embodiment of the present application can utilize electromagnetism tracing equipment, electromagnetic identification and marker,
According to the movement of body surface and the movement of ultrasonic probe, the real-time conversion between ultrasound coordinates system and three-dimensional system of coordinate is established
Relationship, and then on the basis of the real-time transformational relation, real time fusion is carried out to ultrasound image and 3-D image, is realized in people
When body is breathed, the real space position of each internal organs in body also can be accurately obtained.
Specific embodiment
In order to make those skilled in the art more fully understand the technical solution in the embodiment of the present application, below in conjunction with the application
Attached drawing in embodiment, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described reality
Applying example only is the embodiment of the present application a part of the embodiment, instead of all the embodiments.Based on the implementation in the embodiment of the present application
The range of the embodiment of the present application protection all should belong in example, those of ordinary skill in the art's every other embodiment obtained.
In actual operation, by CT (Computer Tomography, CT scan) equipment or MRI
(Magnetic Resonance Imaging, magnetic resonance imaging) image documentation equipment or nuclear-magnetism equipment scanning human body are generated such as
3-D image shown in Fig. 3 can integrally show the intracorporal various physiological structures of human body, but can not provide real-time image, and
By ultrasound image as shown in Figure 4 although available real-time image, but it is only able to display the image under a plane,
Therefore the intracorporal various physiological structures of human body can not be shown on the whole;And two ways is difficult to help medical worker's judgement
The real space position of human body body vessel, lesion and each internal organs;Inventors have found that two ways, which is combined, to be had
Effect helps the real space position of medical worker's real-time judge human body body vessel, lesion and each internal organs, thus in medicine
In be used widely;Therefore the embodiment of the present application proposes a kind of method for merging ultrasound image and 3-D image,
To obtain the accurate real space position of each physiological structure by fused image.
Referring to Fig. 1, the embodiment of the present application provides a kind of image interfusion method, including step S100-S200, specifically
Ground:
S100: electromagnetism tracing equipment, electromagnetic identification and marker are utilized, is built between ultrasound coordinates system and three-dimensional system of coordinate
Vertical transformational relation.
It should be noted that in the embodiment of the present application, electromagnetic identification includes the electromagnetic identification being arranged on ultrasonic probe
Be arranged in two kinds of electromagnetic identification of body surface, the electromagnetic identification on ultrasonic probe is either set, or is arranged in people
The electromagnetic identification of body body surface can be identified that the position that difference is only arranged is different, for convenience by electromagnetism tracing equipment real-time tracking
Illustrate, the electromagnetic identification being arranged on ultrasonic probe is known as electromagnetic identification of popping one's head in by the embodiment of the present application, will be arranged in body
Electromagnetic identification on table is known as body surface electromagnetic identification.
During realization, in order to finally obtain the transformational relation between three-dimensional system of coordinate and ultrasound coordinates system, need
Body surface electromagnetic identification and marker are fixedly installed on body surface, and establishes fixed position between body surface electromagnetic identification and marker
Therefore relationship by electromagnetism tracing equipment to the real-time tracking of body surface electromagnetic identification, can establish marker and electromagnetism tracing equipment
Between relationship, and since marker can pass through CT (Computer Tomography, electronic computer tomography together with human body
Scanning) equipment or MRI (Magnetic Resonance Imaging, magnetic resonance imaging) equipment scanning and in 3-D image at
Therefore picture, and can be established after the relationship between marker and 3-D image between binding label and electromagnetism tracing equipment
Relationship, so that it may establish the relationship between 3-D image and electromagnetism tracing equipment.
In addition, due between probe electromagnetic identification and ultrasonic probe there is also fixed positional relationship, pass through electromagnetism
Tracing equipment can establish the relationship between ultrasonic probe and electromagnetism tracing equipment to the real-time tracking of probe electromagnetic identification.
To sum up, using electromagnetism tracing equipment as intermediary, the relationship between ultrasonic probe and 3-D image can be established.
Optionally, using electromagnetism tracing equipment, electromagnetic identification and marker, between ultrasound coordinates system and three-dimensional system of coordinate
The step of establishing transformational relation include:
According to the positional relationship between the marker that body surface is arranged in and electromagnetic identification corresponding with marker, electromagnetism
Three-dimensional sit is established in position of the tracing equipment to the real-time tracing and the marker of the electromagnetic identification in 3-D image
Transformational relation between mark system and electromagnetism coordinate system;
According to the positional relationship and electromagnetism tracing equipment between the electromagnetic identification and ultrasonic probe being arranged on ultrasonic probe
To the real-time tracing of the electromagnetic identification, the transformational relation between ultrasound coordinates system and electromagnetism coordinate system is established;
According between three-dimensional system of coordinate and electromagnetism coordinate system transformational relation and ultrasound coordinates system and electromagnetism coordinate system it
Between transformational relation, establish transformational relation between ultrasound coordinates system and three-dimensional system of coordinate.
It can be seen from the above, in the embodiment of the present application, according to the difference of setting position, electromagnetic identification is divided into ultrasonic magnet signal
Know and two kinds of body surface electromagnetic identification, each electromagnetic identification itself possesses a mark coordinate system in addition, be more clearly retouch
It states, correspondingly, identifies coordinate system here and be also classified into the ultrasonic signals coordinate system and body surface magnet signal that ultrasonic electromagnetic identification is possessed
Know possessed body surface and identifies two kinds of coordinate system, and electromagnetism tracing equipment itself possesses an electromagnetism coordinate system, therefore, passes through electricity
Magnetic tracing equipment turns the real-time tracking of body surface electromagnetic identification between available electromagnetism coordinate system and body surface mark coordinate system
Relationship is changed, and according to positional relationship fixed between the marker that body surface is arranged in and body surface electromagnetic identification, can be marked
Remember that object identifies the coordinate under coordinate system in body surface, it, can in conjunction with the transformational relation between electromagnetism coordinate system and body surface mark coordinate system
Further to obtain coordinate of the marker under electromagnetism coordinate system, and marker can pass through CT equipment or nuclear-magnetism together with human body
Equipment scans and generates 3-D image, and marker can be obtained according to position of the marker in 3-D image in 3-D image institute
Coordinate under the three-dimensional system of coordinate possessed, therefore, coordinate of the binding label under electromagnetism coordinate system, available three-dimensional coordinate
Transformational relation between system and electromagnetism coordinate system.
Further, according to the position between the marker that body surface is arranged in and electromagnetic identification corresponding with marker
Relationship, position of the electromagnetism tracing equipment to the real-time tracing and the marker of the electromagnetic identification in 3-D image, builds
Transformational relation between vertical three-dimensional system of coordinate and electromagnetism coordinate system includes:
According to the positional relationship being arranged between the marker and electromagnetic identification on body surface, obtains marker and be arranged
Coordinate under the mark coordinate system that electromagnetic identification on body surface is possessed;
According to electromagnetism tracing equipment to the real-time tracing of the electromagnetic identification, obtain mark coordinate system and electromagnetism coordinate system it
Between transformational relation;
It is closed according to the conversion between coordinate of the marker in the case where identifying coordinate system, and mark coordinate system and electromagnetism coordinate system
System, obtains coordinate of the marker under electromagnetism coordinate system;
According to coordinate of the obtained marker in position of the marker in 3-D image under three-dimensional system of coordinate, Yi Jibiao
Remember coordinate of the object under electromagnetism coordinate system, establishes the transformational relation between three-dimensional system of coordinate and electromagnetism coordinate system.
More specifically, in the embodiment of the present application, each body surface electromagnetic identification has an one's own coordinate system, such as
Fruit has N number of body surface electromagnetic identification (N is the integer more than or equal to 2), then there is N number of body surface mark coordinate system, in addition marker
There is fixed positional relationship between body surface electromagnetic identification, is calculated by processing drawing or method of actual measurement etc. can be with
Marker central point is obtained to identify under coordinate system in the body surface for having the body surface electromagnetic identification of fixed positional relationship to be possessed with it
Coordinate.Meanwhile electromagnetism tracing equipment can in real time track and identify each body surface electromagnetic identification, therefore, pass through electricity
Magnetic tracing equipment can obtain each body surface mark coordinate system and electromagnetism tracing equipment to the real-time tracking of body surface electromagnetic identification
The transformational relation between electromagnetism coordinate system possessed.
The transformational relation between each body surface mark coordinate system and electromagnetism coordinate system is obtained, and obtains marker central point
After the coordinate that the body surface for having the body surface electromagnetic identification of fixed positional relationship to be possessed with it identifies under coordinate system, it can be marked
Remember coordinate of the object central point under electromagnetism coordinate system.And since electromagnetism tracing equipment is in real time to each body surface magnet signal
Knowledge is tracked and identified, therefore also can be obtained by real-time coordinates of the marker central point under electromagnetism coordinate system, in addition electromagnetism
The pose of tracing equipment is fixed, and marker can be under electromagnetism coordinate system with the continually changing shape of coordinate with the movement of body surface
Formula shows.
Since CT equipment or nuclear-magnetism equipment scanning human body can obtain the 3-D image of human body, it is arranged in body
Marker on table can be presented in 3-D image, and then obtained each marker central point and possessed in 3-D image
Three-dimensional system of coordinate under coordinate.It is sat according to the obtained marker central point in position of the marker in 3-D image in three-dimensional
The coordinate of coordinate and marker central point under electromagnetism coordinate system under mark system, can be according to same point in two coordinate systems
Under coordinate, and then obtain the transformational relation between three-dimensional system of coordinate and electromagnetism coordinate system.
It should be noted that since coordinate of the marker central point under electromagnetism coordinate system obtains in real time, root
The marker central point obtained when factually is between the three-dimensional system of coordinate and electromagnetism coordinate system that the coordinate under electromagnetism coordinate system is established
Transformational relation be also real-time change, i.e., it is three-dimensional when coordinate when marker central point under electromagnetism coordinate system generates variation
Transformational relation between coordinate system and electromagnetism coordinate system can also change therewith.
In order to obtain more accurate transformational relation in real time in respiratory, the embodiment of the present application proposes body surface
A kind of allocation plan of electromagnetic identification and marker needs in the program at least two body surface electromagnetic identifications and at least four to mark
Object, wherein with body surface at least two fixed electromagnetic identifications, at least one electromagnetic identification and at least three non-colinears
Marker between positional relationship fix, and at most there is fixed positional relationship with electromagnetic identification in each marker,
At least there is fixed positional relationship with a marker in each electromagnetic identification.
On the basis of a kind of upper scheme, in order to make transformational relation is more stable to change with breathing, need in body surface
At least two body surface electromagnetic identifications of upper fixed setting and at least six markers, wherein at least two fixed electromagnetism with body surface
In mark, the positional relationship between each electromagnetic identification and at least three non-colinear markers is fixed, and each marker is most
Mostly there is fixed positional relationship with an electromagnetic identification.
Established between body surface electromagnetic identification and marker fixed positional relationship mode can there are many, for example, can be with
Body surface electromagnetic identification and marker are mounted on some object, and the object is pasted onto body surface;Either by body surface electromagnetism
Mark is pasted on body surface, and marker is fixed in the body surface electromagnetic identification etc..
Optionally, at least two body surface electromagnetic identifications fixed with body surface are pasted on body surface, and marker is fixed at
The surface of at least two body surfaces electromagnetic identification.
Specifically, two body surface electromagnetic identifications can at least will be pasted on body surface with medical adhesive tape, then again will with it is every
The surface that a body surface electromagnetic identification has the marker of fixed positional relationship that at least two body surfaces electromagnetic identification is arranged in, in this way
Also on the basis of fixed positional relationship can be established between body surface electromagnetic identification and marker, so that body surface electromagnetic identification and label
Object is moved with body surface.
Optionally, the body surface electromagnetic identification fixed with body surface and marker are mounted on the electromagnetism tracking for being set to body surface
On pedestal.
An at least electromagnetism tracking marker and at least three label levels can be respectively set on electromagnetism tracking pedestal, with
Body surface electromagnetic identification and marker are fixed respectively, and establish fixed position between body surface electromagnetic identification and marker
Relationship, on the basis of not influencing electromagnetism tracing equipment and being tracked and identified to body surface electromagnetic identification, so that body surface electromagnetic identification and mark
Note object can follow body surface to move.
In actual mechanical process, sucker can also be set on body surface, so that electromagnetism tracking pedestal is fixed with body surface,
The embodiment of the present application is not especially limited the mode that fixed positional relationship is established between body surface electromagnetic identification and marker, only
Being able to satisfy body surface electromagnetic identification and marker can fix with body surface, and not influence electromagnetism tracing equipment to body surface electromagnetic identification
Real-time tracking identification.
It is described previously to obtain the process of the transformational relation between three-dimensional system of coordinate and electromagnetism coordinate system, in order to final
Obtain the transformational relation between ultrasound coordinates system and three-dimensional system of coordinate, it is also necessary to determine between ultrasound coordinates system and electromagnetism coordinate system
Transformational relation.
Optionally, according to the positional relationship and electromagnetism between the electromagnetic identification and ultrasonic probe being arranged on ultrasonic probe
Tracing equipment establishes the step of the transformational relation between ultrasound coordinates system and electromagnetism coordinate system to the real-time tracing of the electromagnetic identification
Suddenly specifically:
According to ultrasonic probe and the positional relationship being fixed between the electromagnetic identification on ultrasonic probe, ultrasound coordinates system is obtained
And the transformational relation identified between coordinate system that the electromagnetic identification being fixed on ultrasonic probe is possessed;
According to electromagnetism tracing equipment to the real-time tracking of the electromagnetic identification, obtain mark coordinate system and electromagnetism coordinate system it
Between transformational relation;
According to ultrasound coordinates system and mark coordinate system between transformational relation, and mark coordinate system and electromagnetism coordinate system it
Between transformational relation, obtain the transformational relation between ultrasound coordinates system and electromagnetism coordinate system.
Since probe electromagnetic identification is fixed on ultrasonic probe, it can be visited by probe electromagnetic identification and ultrasound
Fixed positional relationship obtains the transformational relation between probe identity coordinate system and ultrasound coordinates system between head, further, knot
Close by electromagnetism tracing equipment to the obtained electromagnetism coordinate system of real-time tracking and probe identity coordinate system of electromagnetic identification of popping one's head in it
Between transformational relation, the transformational relation between available ultrasound coordinates system and electromagnetism coordinate system.
It to sum up, is conversion intermediary with electromagnetism coordinate system, according to the transformational relation between three-dimensional system of coordinate and electromagnetism coordinate system,
And the transformational relation between ultrasound coordinates system and electromagnetism coordinate system, it can be established between ultrasound coordinates system and three-dimensional system of coordinate
Transformational relation.
S200: according to the transformational relation between ultrasound coordinates system and three-dimensional system of coordinate, ultrasound image and 3-D image are united
One to the image under the same coordinate system, after obtaining ultrasound image and 3-D image real time fusion.
, can be unified into ultrasound coordinates system by ultrasound image and 3-D image during realization, it can also uniformly arrive
It unites in the embodiment of the present application to by ultrasound image and 3-D image in three-dimensional system of coordinate, or uniformly into electromagnetism coordinate system ...
One is not especially limited into which coordinate system, as long as ultrasound image and 3-D image is unified into the same coordinate system,
Image after capable of obtaining ultrasound image and 3-D image real time fusion as shown in Figure 5.
Further, according to the transformational relation between ultrasound coordinates system and three-dimensional system of coordinate, by ultrasound image and three-dimensional figure
As the image under unification to the same coordinate system, after obtaining ultrasound image and 3-D image real time fusion specifically:
According to coordinate of the pixel each in ultrasound image under ultrasound coordinates system, each pixel is sat in three-dimensional in 3-D image
Transformational relation between mark system lower coordinate and ultrasound coordinates system and three-dimensional system of coordinate, by pixel each in ultrasound image with
In 3-D image under each pixel unification to the same coordinate system, the real time position relationship of ultrasound image and 3-D image is obtained, and
Image co-registration is carried out according to the real time position relationship of ultrasound image and 3-D image, ultrasound image is obtained and 3-D image melts in real time
Image after conjunction.
Optionally, since each pixel in ultrasound image has corresponding coordinate under ultrasound coordinates system, in addition
Obtain the transformational relation between ultrasound coordinates system and three-dimensional system of coordinate, therefore, according to ultrasound coordinates system and three-dimensional system of coordinate it
Between transformational relation and ultrasound image in coordinate of each pixel under ultrasound coordinates system, in available ultrasound image
Coordinate of each pixel in 3-D image, after obtaining coordinate of each pixel in 3-D image in ultrasound image,
Can be obtained by ultrasound image and the fused image of 3-D image, so ultrasound image and 3-D image can be combined into
Row is shown.
Similarly, since each pixel in 3-D image has corresponding coordinate under three-dimensional system of coordinate, in addition
Obtain the transformational relation between ultrasound coordinates system and three-dimensional system of coordinate, therefore, according to ultrasound coordinates system and three-dimensional system of coordinate it
Between transformational relation and 3-D image in coordinate of each pixel under three-dimensional system of coordinate, in available 3-D image
Coordinate of each pixel in ultrasound image, after obtaining coordinate of each pixel in ultrasound image in 3-D image,
Can be obtained by ultrasound image and the fused image of 3-D image, so ultrasound image and 3-D image can be combined into
Row is shown.
It should be noted that transformational relation and three-dimensional system of coordinate and electromagnetism between ultrasound coordinates system and electromagnetism coordinate system
Transformational relation between coordinate system be all as the movement of body surface and the movement of ultrasonic probe change at any time, therefore ultrasound sit
Transformational relation between mark system and three-dimensional system of coordinate changes at any time also with the movement of body surface and the movement of ultrasonic probe.In turn
Carried out on the basis of ultrasound coordinates system and three-dimensional system of coordinate transformational relation ultrasound image and 3-D image fusion be also with
The movement of body surface and the movement of ultrasonic probe change at any time, therefore, also can be quasi- even if human body is breathed
Really obtain the real space position of each internal organs in body.
As shown in Fig. 2, being based on same inventive concept, the embodiment of the present application also provides a kind of image fusion device, packets
Include three-D ultrasonic transformational relation module 201 and three-dimensional ultrasound pattern Fusion Module 202, wherein
Three-D ultrasonic transformational relation module 201 is connect with three-dimensional ultrasound pattern Fusion Module 202, is used for: being chased after using electromagnetism
Track equipment, electromagnetic identification and marker, establish transformational relation between ultrasound coordinates system and three-dimensional system of coordinate, and by ultrasound coordinates
Transformational relation between system and three-dimensional system of coordinate is sent to three-dimensional ultrasound pattern Fusion Module 202;
Three-dimensional ultrasound pattern Fusion Module 202 is connect with three-D ultrasonic transformational relation module 201, is used for: according to receiving
Ultrasound coordinates system and three-dimensional system of coordinate between transformational relation, ultrasound image and 3-D image is unified to the same coordinate system
Under, the image after obtaining ultrasound image and 3-D image real time fusion.
Optionally, three-D ultrasonic transformational relation module 201 includes 3 D electromagnetic transformational relation module, and ultrasonic electromagnetic conversion is closed
It is module and three-D ultrasonic transformational relation module, wherein;
3 D electromagnetic transformational relation module is connected with three-D ultrasonic transformational relation module, is used for:
According to the positional relationship between the marker that body surface is arranged in and electromagnetic identification corresponding with marker, electromagnetism
Three-dimensional sit is established in position of the tracing equipment to the real-time tracing and the marker of the electromagnetic identification in 3-D image
Transformational relation between mark system and electromagnetism coordinate system, and send the transformational relation between three-dimensional system of coordinate and electromagnetism coordinate system to
Three-D ultrasonic transformational relation module;
Ultrasonic electromagnetism transformational relation module is connected with three-D ultrasonic transformational relation module, is used for:
According to the positional relationship and electromagnetism tracing equipment between the electromagnetic identification and ultrasonic probe being arranged on ultrasonic probe
To the real-time tracing of the electromagnetic identification, the transformational relation between ultrasound coordinates system and electromagnetism coordinate system is established, and ultrasound is sat
Transformational relation between mark system and electromagnetism coordinate system is sent to three-D ultrasonic transformational relation module;
Three-D ultrasonic transformational relation module is connected with 3 D electromagnetic transformational relation module and ultrasonic electromagnetism transformational relation module,
For:
According to the transformational relation and ultrasound coordinates system and electromagnetism between the three-dimensional system of coordinate received and electromagnetism coordinate system
Transformational relation between coordinate system establishes transformational relation between ultrasound coordinates system and three-dimensional system of coordinate.
Optionally, 3 D electromagnetic transformational relation module further includes mark coordinate unit, identifies electromagnetic conversion relation unit, electricity
Magnetic coordinate unit, 3 D electromagnetic transformational relation unit, in which:
Mark coordinate unit is connect with electromagnetism coordinate unit, for according to the marker and electromagnetism being arranged on body surface
Positional relationship between mark obtains marker under the mark coordinate system that the electromagnetic identification being arranged on body surface is possessed
Coordinate, and coordinate of the marker in the case where identifying coordinate system is sent to electromagnetism coordinate unit;
Mark electromagnetic conversion relation unit is connect with electromagnetism coordinate unit, is used for according to electromagnetism tracing equipment to the electromagnetism
The real-time tracing of mark obtains the transformational relation between mark coordinate system and electromagnetism coordinate system, and mark coordinate system and electromagnetism
Transformational relation between coordinate system is sent to electromagnetism coordinate unit;
Electromagnetism coordinate unit is connected with mark coordinate unit and mark electromagnetic conversion relation unit, is received for basis
Transformational relation between coordinate of the marker in the case where identifying coordinate system, and mark coordinate system and electromagnetism coordinate system, obtains marker
Coordinate under electromagnetism coordinate system, and coordinate of the marker under electromagnetism coordinate system is sent to 3 D electromagnetic transformational relation list
Member;
3 D electromagnetic transformational relation unit is connected with electromagnetism coordinate unit, for the position according to marker in 3-D image
Coordinate of the obtained marker under three-dimensional system of coordinate is set, and coordinate of the marker received under electromagnetism coordinate system,
Establish the transformational relation between three-dimensional system of coordinate and electromagnetism coordinate system.
Optionally, ultrasonic electromagnetism transformational relation module includes: ultrasonic signals transformational relation unit, identifies electromagnetic conversion relationship
Unit and ultrasonic electromagnetism transformational relation unit, in which:
Ultrasonic signals transformational relation unit is connected with ultrasonic electromagnetism transformational relation unit, is used for:
According to ultrasonic probe and the positional relationship being fixed between the electromagnetic identification on ultrasonic probe, ultrasound coordinates system is obtained
Transformational relation between the mark coordinate system that is possessed of the electromagnetic identification being fixed on ultrasonic probe, and ultrasound coordinates system and
Transformational relation between mark coordinate system is sent to ultrasonic electromagnetism transformational relation unit;
Mark electromagnetic conversion relation unit is connected with ultrasonic electromagnetism transformational relation unit, is used for:
According to electromagnetism tracing equipment to the real-time tracking of the electromagnetic identification, obtain mark coordinate system and electromagnetism coordinate system it
Between transformational relation, and the transformational relation between mark coordinate system and electromagnetism coordinate system is sent to ultrasonic electromagnetism transformational relation list
Member;
Ultrasonic electromagnetism transformational relation unit and ultrasonic signals transformational relation unit and mark electromagnetic conversion relation unit connect
It connects, is used for:
According to the transformational relation between the ultrasound coordinates system received and mark coordinate system, and mark coordinate system and electromagnetism
Transformational relation between coordinate system obtains the transformational relation between ultrasound coordinates system and electromagnetism coordinate system.
Optionally, in image fusion device, the position between marker and the electromagnetic identification that body surface is arranged in is closed
System specifically:
With body surface at least two fixed electromagnetic identifications, at least one electromagnetic identification and at least three non-colinears
Marker between positional relationship fix, and at most there is fixed positional relationship with electromagnetic identification in each marker,
At least there is fixed positional relationship with a marker in each electromagnetic identification.
Optionally, in image fusion device, the position between marker and the electromagnetic identification that body surface is arranged in is closed
System specifically:
With body surface at least two fixed electromagnetic identifications, each electromagnetic identification and at least three non-colinear labels
Positional relationship between object is fixed, and each marker at most has fixed positional relationship with an electromagnetic identification.
Optionally, three-dimensional ultrasound pattern Fusion Module 202 is specifically used for:
According to coordinate of the pixel each in ultrasound image under ultrasound coordinates system, each pixel is sat in three-dimensional in 3-D image
Transformational relation between mark system lower coordinate and ultrasound coordinates system and three-dimensional system of coordinate, by pixel each in ultrasound image with
In 3-D image under each pixel unification to the same coordinate system, the real time position relationship of ultrasound image and 3-D image is obtained, and
Image co-registration is carried out according to the real time position relationship of ultrasound image and 3-D image, ultrasound image is obtained and 3-D image melts in real time
Image after conjunction.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load, reference can be made to the related descriptions of other embodiments.
Those of ordinary skill in the art may be aware that function described in conjunction with the examples disclosed in the embodiments of the present disclosure
Can module and method and step, can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions
It is implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Professional technique
Personnel can specifically realize described function to each using distinct methods, but this realization is it is not considered that super
The scope of the present invention out.
In embodiment provided by the present invention, it should be understood that disclosed device and method can pass through others
Mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of above-mentioned module or unit,
Only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components can be with
In conjunction with or be desirably integrated into another system, or some features can be ignored or not executed.Another point, it is shown or discussed
Mutual coupling or direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING of device or unit or
Communication connection can be electrical property, mechanical or other forms.
Above-mentioned unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
If above-mentioned integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, the present invention realizes above-described embodiment side
All or part of the process in method can also instruct relevant hardware to complete, above-mentioned computer by computer program
Program can be stored in a computer readable storage medium, and the computer program is when being executed by processor, it can be achieved that above-mentioned each
The step of a embodiment of the method.Wherein, above-mentioned computer program includes computer program code, and above-mentioned computer program code can
Think source code form, object identification code form, executable file or certain intermediate forms etc..Above-mentioned computer readable storage medium
It may include: any entity or device, recording medium, USB flash disk, mobile hard disk, magnetic that can carry above-mentioned computer program code
Dish, CD, computer storage, read-only memory (ROM, Read-Only Memory), random access memory (RAM,
Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that above-mentioned
It is appropriate that the content that computer readable storage medium includes can be carried out according to the requirement made laws in jurisdiction with patent practice
Increase and decrease, such as do not include electric carrier wave according to legislation and patent practice, computer readable storage medium in certain jurisdictions
Signal and telecommunication signal.
Above-described embodiment is merely illustrative of the technical solution of the present invention, rather than its limitations.Although the application has been described
The preferred embodiment of embodiment, but one of ordinary skilled in the art once knows basic creative concept, then it can be to this
A little embodiments make other change and modification.So the following claims are intended to be interpreted as including preferred embodiment and falls
Enter all change and modification of the embodiment of the present application range.Obviously, those skilled in the art can to the embodiment of the present application into
Spirit and scope of the various modification and variations of row without departing from the embodiment of the present application.If in this way, these of the embodiment of the present application
Modifications and variations belong within the scope of the embodiment of the present application claim and its equivalent technologies, then the embodiment of the present application is also intended to
It includes these modifications and variations.