CN111474508B - Navigation body motion imaging system and method based on ultra-bandwidth radar - Google Patents
Navigation body motion imaging system and method based on ultra-bandwidth radar Download PDFInfo
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- CN111474508B CN111474508B CN202010279259.XA CN202010279259A CN111474508B CN 111474508 B CN111474508 B CN 111474508B CN 202010279259 A CN202010279259 A CN 202010279259A CN 111474508 B CN111474508 B CN 111474508B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R33/00—Arrangements or instruments for measuring magnetic variables
- G01R33/20—Arrangements or instruments for measuring magnetic variables involving magnetic resonance
- G01R33/44—Arrangements or instruments for measuring magnetic variables involving magnetic resonance using nuclear magnetic resonance [NMR]
- G01R33/48—NMR imaging systems
- G01R33/54—Signal processing systems, e.g. using pulse sequences ; Generation or control of pulse sequences; Operator console
- G01R33/56—Image enhancement or correction, e.g. subtraction or averaging techniques, e.g. improvement of signal-to-noise ratio and resolution
- G01R33/565—Correction of image distortions, e.g. due to magnetic field inhomogeneities
- G01R33/56509—Correction of image distortions, e.g. due to magnetic field inhomogeneities due to motion, displacement or flow, e.g. gradient moment nulling
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
Abstract
The invention belongs to the technical field of medical imaging, and particularly provides a navigation body motion imaging system and method based on an ultra-wideband radar. The method comprises the steps that firstly, ultra-bandwidth frequency band waves are transmitted to the surface of the head of a human body through a radar antenna module, then reflected radar signals are collected, a signal processing module extracts body motion signal waveforms and conducts correlation analysis by analyzing the reflected radar signals, a body motion calibration module is used for calibrating and removing artifacts according to displacement information in the body motion signals, and finally a scanning module triggers scanning of imaging through preset time points of the set waveform signals and conducts tracking navigation scanning on a target object in real time to rebuild target imaging. The head binding mode in various magnetic resonance systems at present is not needed, so that the operation of doctors and patients is very convenient, the use is more flexible, the cost is low, and the installation and the use are convenient.
Description
Technical Field
The invention belongs to the technical field of medical imaging, and particularly relates to a navigation body motion imaging system and method based on an ultra-bandwidth radar.
Background
In the scanning process of a scanner of a magnetic resonance system, in order to reconstruct a clear image, the scanner repeatedly transmits a series of radio frequency pulse sequences within a long scanning time, and then reconstructs an image in an overlapping manner, and an imaging object is required to be kept in a static state all the time in the scanning process.
The current magnetic resonance system can adopt a camera and a label, and the body movement characteristics of a volunteer are tracked in an image recognition mode so as to be used as the correction of a high-quality image of an imaging object. Prospective correction and retrospective correction are available, but such tracking markers are cumbersome to position and add additional cost to the original physiological signal detection equipment. Therefore, it is very urgent to develop a low-cost body motion signal acquisition device which is non-contact, free from positioning, convenient for the operation of patients and doctors, and can serve a body motion navigation system.
In addition, when high-resolution imaging is performed on the head, the foot, and the like, it is not only necessary to obtain an artifact-free image by gate triggering, but also necessary to perform dynamic imaging such as a movie without an artifact by navigation. The key of the body motion signal gating technology lies in accurate acquisition of the body motion signal. At present, no company uses ultra-bandwidth to collect body motion signals.
Disclosure of Invention
The invention aims to overcome the problem of low resolution of a head magnetic resonance scanning head image in the prior art.
Therefore, the invention provides a navigation body movement imaging system based on an ultra-wideband radar, which comprises a pulse generation module, a radar antenna module, a signal processing module, a body movement calibration module and a scanning module, wherein the pulse generation module is used for generating a pulse signal;
the pulse generation module is used for generating nano pulse waves and modulating the nano pulse waves into ultra-broadband waves;
the radar antenna module comprises an antenna transmitting unit and an antenna receiving module, wherein the antenna transmitting unit is used for transmitting the ultra-bandwidth frequency band wave to a target object and reflecting the ultra-bandwidth frequency band wave, and the antenna receiving module is used for receiving a reflected wave reflected from the target object;
the signal processing module is used for carrying out correlation analysis on the reflected wave after the reflected wave is modulated and digitized and the ultra-bandwidth frequency band wave, and finally obtaining a body motion signal;
the body motion calibration module is used for calibrating and removing false shadows according to displacement information in the body motion signals;
the scanning module is used for carrying out tracking navigation scanning on the target object in real time according to the body motion signal after artifact removal so as to reconstruct target imaging.
Preferably, the nano-pulse wave adopts a single-shock pulse wave in the form of a pseudo-random M-sequence code.
Preferably, the system further comprises a signal transmission module, wherein the signal transmission module is used for converting the respiration signal into an optical signal and transmitting the optical signal to the scanning module in a wired mode or an intermediate wireless mode.
Preferably, the scanning module comprises MRI, PET-MR or CT.
Preferably, the target object is a human head surface.
Preferably, the pulse transmitting end of the radar antenna module is fixedly connected with the scanning end of the scanning module.
Preferably, the correlation analysis specifically includes signal identification and signal separation;
the signal identification includes: let the transmitted signal be STThe received signal is SRTheir correlation was calculated as follows (1):
obtaining displacement distances of all tissue layers of the human head according to the correlation, wherein the values are point-by-point symbols, the values are convolution symbols, the values are tau sampling time intervals, and the values are t absolute time axes;
the signal separation comprises: the displacement information corresponding to the tissue with the maximum radiation signal intensity is directly acquired, namely the head motion signal is represented.
Preferably, the pulse generation module, the radar antenna module, the signal processing module and the body motion calibration module respectively perform electromagnetic shielding processing.
The invention also provides a navigation body movement imaging method based on the ultra-bandwidth radar, which comprises the following steps:
s1: generating ultra-bandwidth frequency band waves and transmitting the ultra-bandwidth frequency band waves to a target object through a radar antenna to form reflected waves;
s2: receiving, mediating and digitizing the reflected wave, and performing correlation analysis on the reflected wave and the ultra-bandwidth frequency band wave, and finally analyzing to obtain a body motion signal;
s3: after the reflected wave is modulated and digitized, performing correlation analysis on the reflected wave and the ultra-bandwidth frequency band wave to finally obtain a body motion signal;
s4: calibrating according to the displacement information in the body motion signal to remove artifacts;
s5: and carrying out tracking navigation scanning on the target object in real time according to the body motion signal after artifact removal so as to reconstruct target imaging.
The invention has the beneficial effects that: the invention provides a navigation body motion imaging system and method based on an ultra-bandwidth radar, which comprises a pulse generation module, a radar antenna module, a signal processing module, a body motion calibration module and a scanning module. The method comprises the steps that firstly, ultra-bandwidth frequency band waves are transmitted to the surface of the head of a human body through a radar antenna module, then reflected radar signals are collected, a signal processing module extracts body motion signal waveforms and conducts correlation analysis by analyzing the reflected radar signals, a body motion calibration module is used for calibrating and removing artifacts according to displacement information in the body motion signals, and finally a scanning module triggers scanning of imaging through a preset time point of the set waveform signals and conducts tracking navigation scanning on a target object in real time to rebuild target imaging. The head binding mode of various magnetic resonance systems at present is not needed, so that the operation of doctors and patients is very convenient, the use is more flexible, the cost is low, and the installation and the use are convenient.
The present invention will be described in further detail below with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic diagram of the ultra-wideband radar-based navigational body motion imaging system and method of the present invention;
FIG. 2 is a real object diagram of a radar antenna of the ultra-wideband radar-based navigation body motion imaging system and method of the present invention;
FIG. 3 is a schematic diagram of the installation of the radar antenna of the ultra-bandwidth radar-based navigation body motion imaging system and method of the present invention;
FIG. 4 is a waveform diagram of human head signal acquisition of the ultra-wideband radar-based navigation body motion imaging system and method of the present invention;
FIG. 5 is a schematic diagram of the installation of a hardware acquisition device with shielding design for the ultra-wideband radar-based navigation body motion imaging system and method of the present invention;
FIG. 6 is a water film verification result diagram of the ultra-wideband radar-based navigation body motion imaging system and method of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature; in the description of the present invention, "a plurality" means two or more unless otherwise specified.
The invention provides a navigation body movement imaging system based on an ultra-wideband radar, which comprises a pulse generation module, a radar antenna module, a signal processing module, a body movement calibration module and a scanning module, wherein the pulse generation module is used for generating a pulse signal;
the pulse generation module is used for generating nano pulse waves and modulating the nano pulse waves into ultra-broadband waves;
the radar antenna module comprises an antenna transmitting unit and an antenna receiving module, wherein the antenna transmitting unit is used for transmitting the ultra-bandwidth frequency band wave to a target object and reflecting the ultra-bandwidth frequency band wave, and the antenna receiving module is used for receiving a reflected wave reflected from the target object;
the signal processing module is used for carrying out correlation analysis on the reflected wave after the reflected wave is modulated and digitized and the ultra-bandwidth frequency band wave, and finally obtaining a body motion signal;
the body motion calibration module is used for calibrating and removing false shadows according to displacement information in the body motion signals;
the scanning module is used for carrying out tracking navigation scanning on the target object in real time according to the body motion signal after artifact removal so as to reconstruct target imaging.
As shown in fig. 1, the implementation steps are generally described as 1) generating a narrow-band pulse signal (with a wavelength of several nanoseconds generally) through a circuit of a hardware acquisition module, then modulating the pulse signal to a super-band wide-band, and transmitting the pulse signal through a radar antenna; 2) the head part can reflect ultrasonic signals, so that an antenna of the radar system is responsible for receiving the reflected signals; 3) the hardware acquisition module finally obtains the head motion signal waveform through operations such as demodulation digitization, denoising, reconstruction and the like. The body movement signal waveform is extracted by analyzing the reflected radar signal, and the head deviation information is integrated into the MRI equipment in real time through body movement correction analysis parameters to carry out head magnetic resonance acquisition. Alternatively, the head magnetic resonance does not require a waiting trigger head magnetic resonance acquisition. And in the later stage, the head motion signal and the magnetic resonance image output by the equipment are combined, and the calibration motion information is used for calculating and then processing the image by a module to reconstruct the image.
The system has the main advantages that:
the non-contact type magnetic resonance head binding device does not need various head binding modes in various current magnetic resonance systems, thereby being very convenient for doctors and patients to operate and being more flexible to use.
The control system of the existing magnetic resonance gating system is not occupied or modified, and only the acquisition and transmission mode of the body movement signals is changed, namely, the upper computer system is not modified at all.
Does not occupy MRI equipment time. And the acquisition equipment has low price, and due to the advantages, the price of the magnetic resonance equipment is finally reduced.
In the preferred scheme, firstly, the nanometer pulse wave of the pseudo-random M sequence code is generated, and then the pseudo-random M sequence code is converted into the single-impulse pulse by adding feedback to the input current signal shift register. The pulse signal generated by the UWB pulse generation module in the system adopts a pseudo-random M sequence code, and the pulse has the characteristics of good anti-interference performance, strong time delay, insignificant distance Doppler coupling and the like. The M sequence code is converted into the single-impulse pulse by adding feedback to the input current signal shift register, and the method has the characteristics of simplicity and high speed. The pulse generation, signal transmission and signal reception (including radar antenna system) correspond to the UWB pulse generation module, the UWB transmission antenna and the UWB reception antenna, respectively.
The preferred solution, as shown in fig. 2 and 3, is designed for optimal effect of reception and transmission as a dual-cone horn radar, which is responsible for the transmission of UWB pulses and at the same time for the reception of reflected signals. The hardware module is installed in a magnetic resonance room or a working room of the CT device and is designed to be integrated into the existing magnetic resonance or CT system. For a magnetic resonance system, because the magnetic resonance check points are imaged at the positive center of the magnet, the hardware acquisition equipment is placed on the inner wall of the aperture magnet gradient polarity positive center aperture. The system such as CT is also installed at the axial right center position point of the scanning imaging. Antenna configuration is a fixedly mounted device of an Antenna, designed into the cavity of magnetic resonance. MR transmit/receive coil stands for transmit and receive coil for magnetic resonance.
Preferably, the correlation analysis specifically includes signal identification and signal separation;
the signal identification includes: let the transmitted signal be STThe received signal is SRTheir correlation was calculated as follows (1):
obtaining displacement distances of all tissue layers of the human head according to the correlation, wherein the values are point-by-point symbols, the values are convolution symbols, the values are tau sampling time intervals, and the values are t absolute time axes;
the signal separation comprises: the displacement information corresponding to the tissue with the maximum radiation signal intensity is directly acquired, namely the head motion signal is represented. For the head motion signal, the displacement information of each tissue layer can be obtained through the previous step. However, the head movement signal used for navigation has the maximum intensity of the reflected signal of the UWB signal, and the head movement signal is represented by directly acquiring the displacement information corresponding to the tissue having the maximum intensity of the radiation signal. This part is also integrated into the signal splitting module of the hardware embedded system.
The result is a correlation function, the argument is the time interval between two signals, the multiplication sign in the integral expression represents the click of two signals, and the integral is carried out on all time points of the signals. The actual calculation is performed by a convolution method, and the expression "o" represents the convolution calculation. The system periodically transmits and receives a pseudo-random signal, then calculates the correlation between the received signal and the transmitted signal, and takes the time interval t of two times with the correlation of 1 (namely, the received signal is consistent with the transmitted signal) (the reflection time of each tissue to the same signal source has a slight difference, namely, t is different). And multiplying t by the propagation speed of the light wave to obtain the displacement distance of the motion of each tissue layer of the head. The water film verification result is shown in fig. 6, the left side is an experimental setup picture, and the right side is a data comparison picture for acquiring the magnetic resonance imaging and hardware acquisition system with a continuous movement distance. Ref is a water film motion reference signal, motion information acquired by MRI, and motion information analyzed by UWB acquisition water film motion reflection is shown as UWB. It can be seen from the figure that the waveform and the signal amplitude variation result are substantially consistent.
FIG. 4 shows monitoring volunteer movement information via a hardware acquisition device. The left graph is used for continuously collecting head movement signals of the volunteers, the volunteers are allowed to nod four times at a certain moment, the ultra-bandwidth radar signals at the moment are amplified as shown in the upper right part of the graph, and the movement information of the four nods of the volunteers can be obviously displayed. With the head stationary, periodic motion of head breathing and other organs can be detected, as shown in the lower right. The Doze of event is a head movement signal of the sleep state. The device can well present different states of head motion, and the result well proves the feasibility and the reliability of using the device as body motion navigation imaging.
The head displacement information W (X, Y, Z, t) is obtained in the above step, and the displacement information is transmitted to the imaging apparatus. Taking the magnetic resonance apparatus as an example, taking prospective calibration as an example, performing real-time calibration at a sequence level, where there is a corresponding physical axis rotation matrix R (X, Y, Z) in magnetic resonance, and then the real-time calibration rotation matrix is:
RR(X,Y,Z)＝R(X,Y,Z)+W(X,Y,Z,t) (2)
each time the sequence goes down from the logical axis to the physical axis, the translation matrix will switch to RR instead of R. In this way, the body motion displacement information is integrated into the rotating shaft of the magnetic resonance in real time, and the corresponding motion artifact is eliminated.
Preferably, as shown in fig. 5, the pulse generation module, the radar antenna module, the signal processing module and the body motion calibration module perform electromagnetic shielding processing, respectively. UWB equipment works in the magnetic resonance system room, and the magnetic field of magnetic resonance system can produce the influence to the collection of signal and circuit work, and in return, UWB equipment also can produce the influence to the normal work of magnetic resonance system. Therefore, the present invention requires a magnetic shielding design for the hardware circuit of the patch device. It comprises two parts:
and (5) shielding the circuit board. (different imaging devices, corresponding shielding layers are designed differently, shielding in magnetic resonance is used as magnetic shielding, system eddy current is small, and the like, shielding in CT mainly plays a role in ray protection, prevents ray imaging images of the system and also prevents rays from imaging electronic devices per se.)
Shielding treatment of parts: except for a display screen and a plug interface (such as an optical fiber interface and a charging port of photoelectric conversion) which need to be exposed, other related parts need to be shielded by special magnetic shielding materials, and an electro-optical converter needs to be wrapped by copper materials according to an optical fiber transmission mode. In addition, the battery also needs to be wrapped by copper materials.
The invention has the beneficial effects that: the invention provides a navigation body motion imaging system and method based on an ultra-wideband radar, and comprises a pulse generation module, a radar antenna module, a signal processing module, a body motion calibration module and a scanning module. The method comprises the steps that firstly, ultra-bandwidth frequency band waves are transmitted to the surface of the head of a human body through a radar antenna module, then reflected radar signals are collected, a signal processing module extracts body motion signal waveforms and conducts correlation analysis by analyzing the reflected radar signals, a body motion calibration module is used for calibrating and removing artifacts according to displacement information in the body motion signals, and finally a scanning module triggers scanning of imaging through preset time points of the set waveform signals and conducts tracking navigation scanning on a target object in real time to rebuild target imaging. The head binding mode of various magnetic resonance systems at present is not needed, so that the operation of doctors and patients is very convenient, the use is more flexible, the cost is low, and the installation and the use are convenient.
The above examples are merely illustrative of the present invention and should not be construed as limiting the scope of the invention, which is intended to be covered by the claims and any design similar or equivalent to the scope of the invention.
Claims (6)
1. The utility model provides a navigation body moves imaging system based on super bandwidth radar which characterized in that: the device comprises a pulse generation module, a radar antenna module, a signal processing module, a body motion calibration module and a scanning module; the pulse generation module, the radar antenna module, the signal processing module and the body movement calibration module are respectively used for electromagnetic shielding processing;
the pulse generation module is used for generating nano pulse waves and modulating the nano pulse waves into ultra-bandwidth frequency band waves;
the radar antenna module comprises an antenna transmitting unit and an antenna receiving module, wherein the antenna transmitting unit is used for transmitting the ultra-bandwidth frequency band wave to a target object and reflecting the ultra-bandwidth frequency band wave, and the antenna receiving module is used for receiving a reflected wave reflected from the target object;
the signal processing module is used for carrying out correlation analysis on the reflected wave after the reflected wave is modulated and digitized and the ultra-bandwidth frequency band wave, and finally obtaining a body motion signal; the correlation analysis specifically comprises signal identification and signal separation;
the signal identification includes: let the transmitted signal be STThe received signal is SRTheir correlation was calculated as follows (1):
where, is the dot-by-sign,
obtaining the displacement distance of each tissue layer of the human head according to the correlation, wherein the displacement distance is a convolution symbol, tau is a sampling time interval, and t is an absolute time axis;
the signal separation comprises: directly acquiring displacement information corresponding to the tissue with the maximum radiation signal intensity, namely representing a head motion signal;
the body motion calibration module is used for calibrating and removing artifacts according to displacement information in the body motion signal; specifically, head displacement information W (X, Y, Z, t) is obtained in the previous step, and the displacement information is transmitted to the scanning module; there is a corresponding physical axis rotation matrix R (X, Y, Z) in the magnetic resonance, then the real-time calibration rotation matrix is:
RR(X,Y,Z)＝R(X,Y,Z)+W(X,Y,Z,t) (2)
each time the sequence is shifted down from the logical axis to the physical axis, the translation matrix will switch to RR, instead of R;
the scanning module is used for carrying out tracking navigation scanning on the target object in real time according to the body motion signal after artifact removal so as to reconstruct target imaging.
2. The ultra-wideband radar-based navigational body motion imaging system of claim 1, wherein: the nano pulse wave adopts a single shock pulse wave in a pseudo-random M sequence code form.
3. The ultra-wideband radar-based navigational body motion imaging system of claim 1, wherein: the system also comprises a signal transmission module, wherein the signal transmission module is used for converting the breathing signal into an optical signal and transmitting the optical signal to the scanning module in a wired mode or an intermediate wireless mode.
4. The ultra-wideband radar-based navigational body motion imaging system of claim 1, wherein: the target object is a human head surface.
5. The ultra-wideband radar-based navigational body motion imaging system of claim 1, wherein: and the pulse transmitting end of the radar antenna module is fixedly connected with the scanning end of the scanning module.
6. A navigation body motion imaging method based on ultra-wideband radar is characterized by comprising the following steps:
s1: generating ultra-bandwidth frequency band waves and transmitting the ultra-bandwidth frequency band waves to a target object through a radar antenna to form reflected waves;
s2: receiving, mediating and digitizing the reflected wave, and performing correlation analysis on the reflected wave and the ultra-bandwidth frequency band wave, and finally analyzing to obtain a body motion signal; the correlation analysis specifically comprises signal identification and signal separation;
the signal identification includes: let the transmitted signal be STThe received signal is SRTheir correlation was calculated as follows (1):
where, is the dot-by-sign,
for convolution symbols, τ is the time between samplesAt intervals, t is an absolute time axis, and the displacement distance of each tissue layer of the human head is obtained according to the correlation;
the signal separation comprises: directly acquiring displacement information corresponding to the tissue with the maximum radiation signal intensity, namely representing a head motion signal;
s3: calibrating according to the displacement information in the body motion signal to remove artifacts; specifically, head displacement information W (X, Y, Z, t) is obtained in the previous step, and the displacement information is transmitted to the scanning module; there is a corresponding physical axis rotation matrix R (X, Y, Z) in the magnetic resonance, then the real-time calibration rotation matrix is:
RR(X,Y,Z)＝R(X,Y,Z)+W(X,Y,Z,t) (2)
each time the sequence is shifted down from the logical axis to the physical axis, the translation matrix will switch to RR, instead of R;
s4: and carrying out tracking navigation scanning on the target object in real time according to the body motion signal after artifact removal so as to reconstruct target imaging.
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