CN112533540A - Ultrasonic imaging method, ultrasonic imaging device and puncture navigation system - Google Patents
Ultrasonic imaging method, ultrasonic imaging device and puncture navigation system Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
Abstract
A method of acoustic imaging, an ultrasonic imaging apparatus (10), and a puncture navigation system are provided for improving operational accuracy. The ultrasonic imaging method comprises the following steps: transmitting ultrasonic waves to a target area and receiving ultrasonic echoes returned by the target area to obtain ultrasonic echo data (201); generating an ultrasound image (202) from the ultrasound echo data; acquiring position information (203) of an interventional object; generating a guidance image (204) from the position information of the interventional object, the guidance image indicating a positional relationship of the interventional object with a puncture target within the target region; the ultrasound image and the guide image are displayed (205).
Description
The present application relates to the field of medical devices, and in particular, to an ultrasound imaging method, an ultrasound imaging apparatus, and a puncture navigation system.
With the development of science and technology, the directivity of ultrasonic waves can be used for quite accurately positioning the pathological tissues, the dynamic change of the anatomical structures of the tissues can be observed in real time, and the accuracy and the safety of the ultrasonic wave have incomparable advantages compared with other image examination means. The ultrasound can clearly display the internal tissue structure of a human body, and the ultrasound guided puncture technology is developed at the same time, and is a clinical technology for puncturing the internal lesion or target under the monitoring and guidance of real-time ultrasound images. Under the guide of ultrasonic wave, important organs and larger blood vessels and nerves are avoided, the puncture needle is accurately penetrated into pathological tissues for treatment or a small amount of cells or tissues are sucked out and cut out for pathological examination, or the puncture needle is punctured to the position near the nerves to annotate anesthetic drugs and the like, so that the damage to surrounding tissues is avoided to the maximum extent, the puncture position, the puncture path and the diffusion of the anesthetic drugs can be immediately observed after puncture, the phenomena of bleeding and the like which possibly occur are timely discovered, the treatment is carried out in the shortest time, and more serious complications are avoided.
The ultrasonic puncture navigation can display the motion condition of the puncture needle in the tissue in real time, provides basis for puncture path selection, and is an important means of ultrasonic auxiliary treatment. However, the conventional ultrasound-guided puncture seriously depends on the experience of an operator and the performance of an ultrasound instrument, and may have the problems of more puncture times, longer operation time and the like, thereby causing the increase of the incidence rate of complications. For example, the ultrasound waves emitted by the probe are actually very narrow, emanating from a small gap in the middle of the probe, and the ultrasound waves emitted by the needle and the probe are not in one plane, and therefore, the needle cannot be effectively guided by ultrasound imaging. In addition, when the probe and the skin are not perpendicular, the needle needs to be inserted from the side direction relative to the probe, and the needle and the probe are not coplanar. If the nerve blocks under ultrasound guidance, nerve damage may exist if the needle tip is not fully shown. For example, because the suction needle tube is very small, the puncture needle cannot be clearly displayed when reaching the depth of 2-3cm of the ultrasonic image, and thus important blood vessels, nerves and the like cannot be effectively avoided.
Disclosure of Invention
The application provides an ultrasonic imaging method, an ultrasonic imaging device and a puncture navigation system, which are used for improving the operation accuracy.
A first aspect of embodiments of the present application provides an ultrasound imaging method, including: transmitting ultrasonic waves to a target area and receiving ultrasonic echoes returned by the target area to obtain ultrasonic echo data; generating an ultrasonic image according to the ultrasonic echo data; acquiring position information of an interventional object; generating a guide image according to the position information of the interventional object, wherein the guide image indicates the position relation between the interventional object and the puncture target in the target area; the ultrasound image and the guide image are displayed.
A second aspect of embodiments of the present application provides an ultrasound imaging apparatus, including: the device comprises a probe, a transmitting circuit, a receiving circuit processor and a display; the transmitting circuit transmits ultrasonic waves to a target area, and the receiving circuit controls the probe to receive ultrasonic echoes returned by the target area so as to obtain ultrasonic echo data; the processor generates an ultrasonic image according to the ultrasonic echo data; the processor obtaining positional information of the interventional object; the processor generates a guide image according to the position information of the interventional object, wherein the guide image indicates the position relation of the interventional object and a puncture target in the target area; the display displays the ultrasound image and the guide image.
A third aspect of embodiments of the present application provides an ultrasound imaging method, including: transmitting ultrasonic waves to a target area through a probe, and receiving ultrasonic echoes returned by the target area to obtain ultrasonic echo data; generating an ultrasonic image according to the ultrasonic echo data; acquiring the position relation of an interventional object relative to a probe; generating a puncture indication map according to the position relation of the interventional object relative to the probe, wherein the puncture indication map indicates the position relation of the interventional object relative to the plane where the ultrasonic image is located; and displaying the ultrasonic image and the puncture indicating map.
A fourth aspect of the embodiments of the present application provides an ultrasound imaging apparatus including: the device comprises a probe, a transmitting circuit, a receiving circuit processor and a display; the transmitting circuit transmits ultrasonic waves to a target area through the probe; the receiving circuit controls the probe to receive the ultrasonic echo returned by the target area so as to obtain ultrasonic echo data; the processor generates an ultrasonic image according to the ultrasonic echo data; the processor acquires the position relation of the interventional object relative to the probe; the processor generates a puncture indication map according to the position relation of the interventional object relative to the probe, and the puncture indication map indicates the position relation of the interventional object relative to the plane where the ultrasonic image is located; the display displays the ultrasound image and the puncture indication map.
A fifth aspect of embodiments of the present application provides a puncture navigation system including a magnetizer for magnetizing an interventional object, and an ultrasonic imaging apparatus as provided in the second or fourth aspect described above.
A sixth aspect of embodiments of the present application provides a computer-readable storage medium having stored therein instructions, which, when run on a computer, cause the computer to perform the ultrasound imaging method provided in the above first or third aspect.
According to the technical scheme, the embodiment of the application has the following advantages: after acquiring the position information of the ultrasound image and the interventional object by the ultrasound waves and the ultrasound echoes, a guidance image is generated from the position information of the interventional object, the guidance image may indicate a positional relationship between the interventional object and the puncture target within the target region, and the ultrasound image and the guidance image are displayed. Therefore, the interventional object can be guided through the guide image, and the operation direction is provided for the interventional object, so that the operation accuracy of an operator is improved, and important tissues are effectively avoided.
Fig. 1 is a schematic structural block diagram of a possible ultrasound imaging apparatus provided in an embodiment of the present application;
FIG. 2 is a flow chart of one possible ultrasound imaging method provided by an embodiment of the present application;
FIG. 3 is a schematic diagram of a possible probe provided by an embodiment of the present application;
FIG. 4 is a schematic diagram of another possible probe provided by an embodiment of the present application;
FIG. 5 is a schematic illustration of a possible needle guide provided by an embodiment of the present application;
FIG. 6 is a schematic illustration of a possible needle guide provided by an embodiment of the present application;
FIG. 7 is a schematic illustration of a possible needle guide provided by an embodiment of the present application;
FIG. 8 is a schematic illustration of a possible needle guide provided by an embodiment of the present application;
FIG. 9 is a schematic illustration of a possible needle guide provided by an embodiment of the present application;
FIG. 10 is a schematic illustration of a possible needle guide provided by an embodiment of the present application;
FIG. 11 is a schematic illustration of a possible needle guide provided by an embodiment of the present application;
FIG. 12 is a schematic illustration of a possible needle guide provided by an embodiment of the present application;
FIG. 13 is a schematic illustration of a possible needle guide provided by an embodiment of the present application;
FIG. 14 is a schematic illustration of a possible needle guide provided by an embodiment of the present application;
FIG. 15 is a schematic illustration of a possible needle guide provided by an embodiment of the present application;
FIG. 16 is a schematic illustration of a possible needle guide provided by an embodiment of the present application;
FIG. 17 is a schematic illustration of a possible needle guide provided by an embodiment of the present application;
FIG. 18 is a schematic illustration of a possible needle guide provided by an embodiment of the present application;
FIG. 19 is a schematic illustration of a possible needle guide provided by an embodiment of the present application;
FIG. 20 is a schematic illustration of a possible needle guide provided by an embodiment of the present application;
FIG. 21 is a schematic illustration of a possible needle guide provided by an embodiment of the present application;
FIG. 22 is a schematic illustration of a possible needle guide provided by an embodiment of the present application;
FIG. 23 is a schematic illustration of a possible needle guide provided by an embodiment of the present application;
figure 24 is a schematic illustration of one possible needle guide provided by an embodiment of the present application.
The embodiment of the application provides an acoustic imaging method and ultrasonic imaging equipment, which are used for improving the operation accuracy.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present application and in the drawings described above, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Fig. 1 is a schematic structural block diagram of an ultrasound imaging apparatus 10 in an embodiment of the present application. The ultrasound imaging device 10 may include a probe 100, a transmit circuit 101, a transmit/receive select switch 102, a receive circuit 103, a beam forming circuit 104, a processor 105, and a display 106. The transmit circuitry 101 may excite the probe 100 to transmit ultrasound waves to the target region. The receiving circuit 103 may receive the ultrasonic echo returned from the target region through the probe 100, thereby obtaining an ultrasonic echo signal/data. The ultrasonic echo signals/data are subjected to beamforming processing by the beamforming circuit 104, and then sent to the processor 105. The processor 105 processes the ultrasound echo signals/data to obtain an ultrasound image of the target object or an ultrasound image of the interventional object. The ultrasound images obtained by the processor 105 may be stored in the memory 107. These ultrasound images may be displayed on the display 106.
In an embodiment of the present application, the display 106 of the ultrasonic imaging apparatus 10 may be a touch display screen, a liquid crystal display screen, or the like, or may be an independent display apparatus such as a liquid crystal display, a television, or the like, which is independent from the ultrasonic imaging apparatus 10, or may be a display screen on an electronic apparatus such as a mobile phone, a tablet computer, or the like.
In one embodiment of the present application, the memory 107 of the ultrasound imaging apparatus 10 can be a flash memory card, a solid-state memory, a hard disk, or the like.
In an embodiment of the present application, a computer-readable storage medium is further provided, where a plurality of program instructions are stored, and when the plurality of program instructions are called by the processor 105 to be executed, some or all of the steps of the ultrasound imaging method in the embodiments of the present application, or any combination of the steps thereof, may be executed.
In one embodiment, the computer readable storage medium may be the memory 107, which may be a non-volatile storage medium such as a flash memory card, solid state memory, hard disk, or the like.
In an embodiment of the present application, the processor 105 of the ultrasound imaging apparatus 10 may be implemented by software, hardware, firmware or a combination thereof, and may use a circuit, a single or multiple Application Specific Integrated Circuits (ASICs), a single or multiple general purpose integrated circuits, a single or multiple microprocessors, a single or multiple programmable logic devices, or a combination of the foregoing circuits or devices, or other suitable circuits or devices, so that the processor 105 may perform the corresponding steps of the ultrasound imaging method in the various embodiments of the present application.
The ultrasound imaging method in the present application is described in detail below.
It should be noted that, with reference to the schematic structural block diagram of the ultrasound imaging apparatus 10 shown in fig. 1, the ultrasound imaging method provided in the embodiment of the present application may be applied to the following application scenarios: the operator places the probe 100 on the body surface of the part to be punctured, inserts the puncture needle from the side of the probe 100, and the operator can see the tissue structure and the like through the display 106 and can also see the position of the puncture needle or the needle point of the puncture needle in the tissue structure in a hidden way.
Based on this, referring to fig. 2, an ultrasound imaging method provided in an embodiment of the present application is applied to an ultrasound imaging apparatus 10, and the ultrasound imaging method includes:
201. ultrasonic waves are transmitted to a target area, and ultrasonic echoes returned by the target area are received, so that ultrasonic echo data are obtained.
First, to acquire an image of a target region, an operator may place the probe 100 on the target region, transmit ultrasonic waves to the target region, and receive ultrasonic echoes reflected by the target region to obtain ultrasonic echo data. The received ultrasound echo data may vary depending on the tissue structure of the target region.
Specifically, as shown in fig. 3, the processor 105 may control to turn on the transmission/reception selection switch 102, and control the transmission circuit 101 to transmit the ultrasonic wave to the target region through the probe 100, and receive the ultrasonic echo through the probe 100, and transmit the ultrasonic echo to the reception circuit 103, that is, it may be understood that the reception circuit 103 may receive the ultrasonic echo returned from the target region through the probe 100, so as to obtain the ultrasonic echo data.
202. An ultrasound image is generated from the ultrasound echo data.
The ultrasonic echo data is processed by the beam forming circuit 104, and then transmitted to the processor 105, and the processor 105 processes the ultrasonic echo data to obtain an ultrasonic image of the target region.
203. Position information of the interventional object is acquired.
In this embodiment, the processor 105 may obtain position information of an interventional object to be inserted or inserted into the target object, and determine the target imaging parameters according to the position information. The positional information may be a positional relationship of the interventional object relative to the probe.
In a clinical procedure, when an interventional object is inserted or is to be inserted into a target object, the ultrasound imaging apparatus 10 locates the interventional object to acquire position information of the interventional object.
For convenience of description, in the embodiments of the present application, the interventional object is taken as an example for description, and correspondingly, the position information of the interventional object may include a needle tip position of the puncture needle. In practical applications, the interventional object may be other objects, and is not limited herein.
In practical applications, there are various ways to acquire the position information of the interventional object, including through an electromagnetic navigation technology, an image pattern recognition technology, an infrared or laser technology, and the like, and the specific application is not limited herein.
In one embodiment, the position information of the interventional object may be obtained by electromagnetic navigation techniques. The acquiring of the position information of the interventional object to be inserted or inserted into the target object comprises: the processor 105 detects the magnetic induction intensity generated after the puncture needle is magnetized; and determining the needle tip position of the puncture needle according to the magnetic induction intensity.
The electromagnetic navigation technology is a technology for positioning an object in a magnetic field by using the magnetic field distributed in space according to data obtained by a sensor in the magnetic field. It can be understood that the real-time positioning technology in a non-visual state is realized by utilizing the penetrability of a magnetic field to a non-shielding object. Illustratively, the process of determining the location information of the puncture needle based on the magnetic field sensing positioning technique includes: the magnetic field strength around the probe 100 is first monitored and the initial magnetic field strength recorded. Then the operator can magnetize the puncture needle through the magnetizer to obtain the magnetized puncture needle. When the magnetized puncture needle is close to the probe 100 of the ultrasonic imaging apparatus 10, since the magnetized puncture needle generates a magnetic field, and as shown in fig. 4, in one embodiment, a magnetic field sensor array 201 made of magnetic sensitive material may be integrated inside the probe 100, the magnetized puncture needle affects the magnetic field around the magnetic field sensor array 201. Therefore, the magnetic induction intensity of the magnetic field generated by the puncture needle is detected by the magnetic field sensor array, so that the ultrasonic imaging device 10 determines the change value of the magnetic field around the magnetic field sensor array according to the change value of the magnetic induction intensity, calculates the coordinate information and the position information of the needle point of the puncture needle in real time based on the change value of the magnetic field to obtain the space coordinate of the puncture needle, converts the space coordinate into the plane coordinate of the plane where the ultrasonic image is located, and can generate the corresponding position information of the puncture needle in the ultrasonic image by combining the ultrasonic image.
It should be understood that a magnetic sensor may be included in probe 100 to detect the strength of the magnetic field around probe 100.
Illustratively, the magnetic field strength B (B) around the probe 100 is monitored, the magnetic field change strength B (t) around the probe caused by the magnetized puncture needle is detected after the puncture needle is magnetized, the magnetic field B (n) ═ B (t) — B (B) of the puncture needle is calculated according to the original magnetic field strength around the probe and the magnetic field strength around the probe after the change, the position and the angle of the puncture needle relative to the probe are calculated by comparing the calculated magnetic field strength of the puncture needle with a preset magnetic field data table, and the space coordinate B (0) ═ F (x) of the needle point and the needle tail of the puncture needle is calculated0，y 0，z 0) And B (1) ═ F (x)1，y 1，z 1) The system then maps the spatial coordinate transformation of the tip to the coordinates p (0) ═ F (x) relative to the ultrasound plane directly0，y 00) and p (1) ═ F (x)1，y 1And 0), obtaining the coordinate information of the puncture needle.
Therefore, in the embodiment of the application, the position information of the puncture needle is monitored in real time, so that a clinician can accurately see the position of the needle point of the puncture needle under the guidance of the ultrasound image.
In one embodiment, the position information of the interventional object may be obtained by image pattern recognition techniques. For example, after the puncture needle is inserted into the target object, the ultrasound imaging apparatus 10 emits ultrasound waves through the probe 100 to obtain a B-mode ultrasound image (hereinafter, referred to as a B-mode ultrasound image) with the puncture needle and the tissue structure, etc., performs image enhancement and equalization processing on the B-mode ultrasound image, and determines the position of the puncture needle in the B-mode ultrasound image by means of image pattern recognition.
In one embodiment, the positional information of the interventional object may be obtained by infrared or laser techniques. For example, the depth, displacement, etc. of the interventional object can be detected by infrared or laser light to determine the location of the puncture needle in the ultrasound image.
In summary, in the embodiments of the present application, there are various ways to locate the interventional object, and the details are not repeated herein.
204. A guidance image is generated from the positional information of the interventional object.
After the position information of the puncture needle is determined, the needle point coordinate and the needle tail coordinate of the puncture needle can be determined, the needle point coordinate and the needle tail coordinate are mapped into the ultrasonic image to generate a guide image, and the guide image is generated according to the position information of the puncture needle.
205. The ultrasound image and the guide image are displayed.
The ultrasound image and the guide image are displayed on the display. In one embodiment, the display can also be updated in real time based on monitoring of the puncture needle.
The guide image may include a first guide map indicating a region where the puncture needle is located, a second guide map indicating a region where the puncture needle tip is located, a third guide map indicating a region where the puncture target is located, and/or a fourth guide map indicating a puncture path of the puncture needle, which are exemplarily described below in connection with the ultrasound image.
Puncturing can be divided into in-plane puncturing and out-of-plane puncturing. The in-plane puncture is a puncture performed in an acoustic beam emitted from the probe 100, and a puncture path of the in-plane puncture is in an ultrasound image plane. The puncture path of the out-of-plane puncture is a process in which the puncture needle punctures wholly or partially outside the sound beam emitted by the probe 100, and usually, the out-of-plane puncture can only display part of the puncture needle or the needle tip of the puncture needle in the ultrasound image. In embodiments of the present application, a guide image may be generated for both out-of-plane and in-plane puncture and mapped into an ultrasound image.
It should be noted that, in the out-of-plane ultrasound image of the puncture, a part of the puncture needle or the needle tip of the puncture needle may be displayed, and the present application will be described by taking the needle tip of the puncture needle as an example. In addition, the guidance diagram in the embodiment of the application is exemplarily illustrated by taking a dashed line as an example, and the line included in the actual guidance image may be a dashed line, a solid line, or another line, or a guidance diagram of another color, which is specifically adjusted according to the actual application scene, and is not limited herein.
For example, the first guide map may be as shown in fig. 5 and 6. The first guide drawing is a guide drawing of the region where the puncture needle is located, the in-plane puncture is as the first guide drawing 401 in fig. 5 or the out-of-plane puncture is as the first guide drawing 401 in fig. 6. Wherein the first guide drawing 401 includes the region where the puncture needle is located. When the puncture is carried out outside the plane, the development of the intersection point of the needle and the ultrasonic imaging plane can be seen only when the needle reaches or passes through the imaging section, the position information of the puncture needle can be determined through an electromagnetic navigation technology, and when only the needle point of the puncture needle can be displayed, a first guide picture of the puncture needle is generated according to the position information of the puncture needle, and the area where the puncture needle is located is marked. Therefore, the puncture path of the puncture needle can be determined based on the guide map of the region where the puncture needle is located.
Second guide diagrams may be as shown in fig. 7 and 8, a second guide diagram for in-plane puncturing may be as shown at 402 in fig. 7, and a second guide diagram for out-of-plane puncturing may be as shown at 402 in fig. 8. The needle point of the puncture needle is marked, so that an operator can clearly know the position of the needle point and determine the puncture path of the puncture needle according to the position of the needle point. The clinician can accurately see the needle point under the guidance of the ultrasonic image, so that the relative position of the puncture needle and a puncture target can be better confirmed, the puncture needle can be timely adjusted, and the puncture can be more accurately performed.
The third guide map is a guide map of the area where the puncture target is located, the third guide map for in-plane puncture may be as shown at 403 in fig. 9, and the third guide map for out-of-plane puncture may be as shown at 403 in fig. 10. The area where the puncture target is located can be determined by in-plane puncture and out-of-plane puncture, the puncture target is identified through the third guide diagram, so that an operator can clearly know the area where the puncture target is located, the angle and the position of the puncture needle can be adjusted in time according to the position where the puncture target is located when puncture is carried out, and the accuracy of puncture is improved.
The fourth guide diagram is a guide diagram of the puncture needle indicating the puncture path of the puncture needle, the fourth guide diagram of the in-plane puncture may be 404 as shown in fig. 11, and the fourth guide diagram of the out-of-plane puncture may be 404 as shown in fig. 12. Specifically, the fourth guide map may be a guide line, and the processor 105 may obtain needle point coordinates and needle tail coordinates of the puncture needle according to the position information of the puncture needle, and calculate the guide line from the puncture needle to the puncture target according to the needle point coordinates and the needle tail coordinates. The distance from the puncture needle tip to the puncture target can be calculated using the position of the needle tip as a starting point. As shown in fig. 11 and 12 as an example, the fourth guide diagram may be a guide line, and a scale may be marked on the guide line, that is, the fourth guide diagram may include a scale mark. The number of pixels corresponding to each scale value may be calculated according to the physical pixel value of the ultrasound image, and scale points are marked on the guide line according to the calculated scale value, where the scale may be marked in the form of a line segment or a dot, or may be marked in other forms, and may be specifically adjusted according to an application scenario, which is not limited herein. For example, as shown in fig. 11 and 12, the puncture guide line is indicated by a dotted line, and a distance in the needle puncture direction between every two dots is 5 mm. In addition, when the distance from the needle point of the puncture needle to the puncture target is calculated by performing out-of-plane puncture, the distance corresponding to each scale value in the ultrasonic plane is calculated according to the angle between the puncture needle and the probe after calculating the guide line of the needle by considering the angle of the puncture needle relative to the probe in the calculated needle point coordinate and needle tail coordinate. For example, a scale of 5 mm indicates a distance of 5 × cos (a) from the ultrasound plane, and a is the angle of the needle to the ultrasound plane. Therefore, according to the puncture needle guiding method and device, the guiding image from the puncture needle to the puncture target can be generated according to the position information of the puncture needle, so that an operator can intuitively know the puncture guiding path of the puncture needle, and puncture can be accurately performed.
It should be noted that the guide image may include one or more of the first guide map, the second guide map, the third guide map, and the fourth guide map, and may specifically depend on the actual application scenario, and the description is not limited herein.
In one embodiment, in addition to marking a scale on the guide wire when the fourth guide map is a guide wire, a depth at which puncture is possible may be displayed in the ultrasound image. As shown in fig. 13 and 14. The depth of penetration can be displayed directly in the ultrasound image. For example, in fig. 13 and 14, the maximum penetration depth that can be currently supported is shown as 35 mm, but 35 mm is merely illustrative.
In one embodiment, when the puncture needle performs the puncture at a different angle, or the angle of the puncture needle is adjusted during the puncture, the guide image may also be adjusted according to the puncture angle of the puncture needle. The puncture angle change of the in-plane puncture is schematically shown in fig. 15 and 16. When the intervention angle of the puncture needle deflects, the deflection angle of the puncture needle is calculated, the needle point coordinate and the needle tail coordinate of the puncture needle are obtained again according to the deflection angle, the distance from the puncture needle to a puncture target is calculated, the scale in the fourth guide picture is adjusted according to the distance from the puncture needle to the puncture target, and if the ultrasonic image comprises puncture depth display information, the puncture depth display information can be updated. When the puncture needle is punctured out of the plane, as shown in fig. 17 and 18, if the puncture needle is deflected in angle, the specific guide map updating method is similar to that of the puncture needle in the plane, the deflection angle of the puncture needle is calculated, the needle point coordinate and the needle tail coordinate of the puncture needle are obtained again according to the deflection angle, the distance from the puncture needle to the puncture target is calculated, the scale in the fourth guide map is adjusted according to the distance from the puncture needle to the puncture target, and if the ultrasound image includes depth display information, the depth display information can be updated. Further, the distance from the puncture needle to the puncture target may be the distance from the tip of the puncture needle to the puncture target. Therefore, in the embodiment of the application, if the puncture angle of the puncture needle deflects, the guide diagram and the display distance from the puncture needle to the puncture target can be calculated and updated in real time according to the deflection angle of the puncture needle, so that an operator can intuitively know the puncture condition and perform more accurate puncture.
In one embodiment, after the distance from the puncture needle tip to the puncture target is calculated, the display state change of the guide image may be adjusted according to the distance from the puncture needle tip to the puncture target. For example, the color change of the guide image may be adjusted according to the distance from the puncture needle tip to the puncture target, or the displayed distance value or guide line scale value may be adjusted according to the change in the distance from the puncture needle tip to the puncture target. Specifically, for example, the deeper the distance from the puncture needle tip to the puncture target, the more obvious the color of the guide image, or the like, or the different distances are marked by different colors, for example, green indicates that the distance is greater than 10 mm, yellow indicates that the distance is between 5 and 10 mm, and red indicates that the distance is less than 5 mm. Therefore, in the embodiment of the present application, the change in the distance from the puncture needle tip to the puncture target can be identified more by the change in the display state of the guide image, so that the operator can intuitively know the distance from the puncture needle tip to the puncture target, and the accuracy of puncture can be improved by adjusting the angle, speed, and the like of puncture according to the distance from the puncture needle tip to the puncture target.
In one embodiment, as shown in FIG. 19, when performing out-of-plane or in-plane puncture, the entire needle may not be displayed from the ultrasound image, only a portion of the needle or tip of the needle may be displayed. At this time, the position information of the puncture needle can be obtained according to the electromagnetic navigation technology, and a puncture indication map of the position relation of the puncture needle relative to the probe is generated, wherein the puncture indication map indicates the distance and/or puncture angle from the puncture needle to the plane where the ultrasonic image is located. For example, the puncture indication map can be a top projection view of the probe, wherein the top projection view of the probe includes the distance and/or puncture angle of the puncture needle from the top projection plane of the ultrasound image. The puncture indication map may also be a projection map of other angles, which is not limited herein. Therefore, even when performing out-of-plane or in-plane puncture, the position and puncture angle of the puncture needle with respect to the probe 100 can be known from the plan view projection of the probe, and the operator can perform puncture more accurately.
In one embodiment, only the ultrasound image and the puncture indication map may be displayed. Another ultrasound imaging method provided by the present application includes:
transmitting ultrasonic waves to a target area through a probe, and receiving ultrasonic echoes returned by the target area to obtain ultrasonic echo data;
generating an ultrasonic image according to the ultrasonic echo data;
acquiring the position relation of an interventional object relative to the probe;
generating a puncture indication map according to the position relation of the interventional object relative to the probe, wherein the puncture indication map indicates the position relation of the interventional object relative to the plane where the ultrasonic image is located;
and displaying the ultrasonic image and the puncture indication map.
It should be noted that the manner of generating the ultrasound image and displaying the ultrasound image can be understood with reference to the above embodiments, and will not be described herein again.
The interventional object can be a puncture needle, and the indicating map indicating the position relationship of the interventional object relative to the plane where the ultrasound image is located includes: the puncture indication map indicates the distance and/or puncture angle of the puncture needle from the plane where the ultrasound image is located. The plane of the ultrasonic image can also be understood as a scanning plane of the probe array element for transmitting ultrasonic waves. For example, the puncture indication map can be a top projection view of the probe, wherein the top projection view of the probe includes the distance and/or puncture angle of the puncture needle from the top projection plane of the ultrasound image. For example, for out-of-plane puncture, the distance from the needle point of the puncture needle to the intersection point of the overlooking projection plane of the ultrasonic image and the inclination angle of the puncture needle and the overlooking projection plane of the ultrasonic image can be displayed in real time; for in-plane puncture, the puncture distance of the puncture needle in the overlooking projection plane of the ultrasonic image can be displayed in real time. For example, taking the top projection plane of the ultrasound image as a horizontal line, the puncture needle is inserted along the vertical direction of the horizontal line to indicate out-of-plane puncture, and the puncture needle is inserted along the horizontal direction of the horizontal line to indicate in-plane puncture, which is only exemplified here and not particularly limited. The puncture indication map may also be a projection map of other angles, which is not limited herein.
In one embodiment, the penetration indication map further indicates a distance and/or a penetration angle of the interventional object to the probe. For example, the interventional object may be a puncture needle, and the puncture indication map may be a top projection view of the probe, wherein the top projection view of the probe includes a distance from the puncture needle to the probe and/or a puncture angle. For example, for out-of-plane puncture, the distance from the needle point of the puncture needle to the intersection point of the overlooking projection plane of the probe and the inclination angle of the puncture needle and the overlooking projection plane of the probe can be displayed in real time; for in-plane puncture, the distance of the puncture needle from the probe top projection plane can also be displayed in real time. For example, the plan view projection plane of the probe is a rectangular frame, the insertion of the puncture needle along the vertical direction of the rectangular frame indicates out-of-plane puncture, and the insertion of the puncture needle along the horizontal direction of the rectangular frame indicates in-plane puncture, which is not limited to the specific example. The puncture indication map may also be a projection map of other angles, which is not limited herein.
In one embodiment, when it is determined that the distance between the puncture needle tip and the puncture target is less than the first threshold value, the fourth guide map may be controlled to fade out, disappear, or turn into a light color or the like to more clearly show the needle tip. For example, as shown in fig. 20, when the out-of-plane puncture is performed, if the distance from the puncture needle tip to the puncture target is less than 5 mm, the fourth guide map gradually disappears or disappears immediately to more clearly show the needle tip. In addition, in the case where the fourth guide map is partially disappeared, as shown in fig. 21, when the puncture needle reaches the puncture target, the fourth guide map 404 is not displayed or faded out within the range where the guide map 403 of the puncture target is located, but the fourth guide map may be continuously displayed in addition to the puncture target to more clearly display the needle point of the puncture needle and more accurately display the puncture direction of the puncture needle. Of course, other guide maps may also disappear, fade, or resize immediately, etc. For example, as shown in fig. 22, the first guide map and the third guide map may be adjusted in size, shape, or the like so as to overlap each other, thereby preventing the puncture target or the puncture needle from being excessively covered with the first guide map. For another example, as shown in fig. 23, the first guide map may not be displayed or may be thinned out in order to better display the needle tip. Therefore, in the embodiment of the application, when the distance between the needle point of the puncture needle and the puncture target is smaller than the first threshold value, the fourth guide diagram can be controlled to fade out, disappear completely, disappear partially or change into light color, and the like, so that the needle point can be displayed more clearly, an operator can know the position of the needle point more clearly, a puncture path is clearer, and the puncture accuracy is improved.
In one embodiment, as illustrated in fig. 24, when the distance for continuing to puncture along the puncture path after the puncture needle tip reaches the puncture target exceeds the second threshold, a warning message may be generated to prompt the operator. For example, the alert message may be "puncture target reached! "," please refer to the ultrasound image for puncturing! ' etc. to warn the position of the puncture needle, prevent the operator from puncturing excessively or not puncturing enough, etc., and improve the accuracy of puncturing.
Therefore, in the embodiment of the present application, first, the position information of the puncture needle is obtained, a guide image is generated according to the position information of the puncture needle, the puncture is guided according to the guide image, the puncture path of the puncture needle is predicted in real time, so that the operator can clearly know the puncture path of the puncture needle and the puncture guide of the puncture needle to the puncture target, the puncture adjustment of the puncture needle is performed according to the guide image in time, the puncture technique, the puncture angle, the puncture direction and the like are adjusted in time, and the puncture needle can reach the puncture target, so that more accurate puncture is performed.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
In practical applications, the target object may be a face, a spine, a heart, a uterus, a pelvic floor, or the like, or other parts of human tissues, such as a brain, a bone, a liver, or a kidney, and the like, which is not limited herein.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (29)
- An ultrasound imaging method, comprising:transmitting ultrasonic waves to a target area and receiving ultrasonic echoes returned by the target area to obtain ultrasonic echo data;generating an ultrasonic image according to the ultrasonic echo data;acquiring position information of an interventional object;generating a guide image according to the position information of the interventional object, wherein the guide image indicates the position relation of the interventional object and a puncture target in the target area;displaying the ultrasound image and the guide image.
- The method of claim 1, wherein the interventional object comprises a puncture needle, and wherein the guide image comprises at least one of: a first guide diagram indicating a region where the puncture needle is located, a second guide diagram indicating a region where the tip of the puncture needle is located, a third guide diagram indicating a region where the puncture target is located, and a fourth guide diagram indicating a puncture path of the puncture needle.
- The method of claim 2, wherein the fourth guide map comprises a guide wire including graduated markings for indicating the distance of the puncture needle to the puncture target.
- The method of claim 3, further comprising:when the intervention angle of the puncture needle deflects, determining the deflection angle of the puncture needle;and controlling the deflection of the guide wire according to the deflection angle of the puncture needle.
- The method of claim 2, further comprising:determining the distance from the needle point of the puncture needle to the puncture target;and controlling the display state change of the guide image according to the distance from the needle point of the puncture needle to the puncture target.
- The method of claim 5, wherein the controlling of the change of the display state of the guide image according to the distance from the puncture needle tip to the puncture target comprises:and controlling the color change and/or the numerical value display change of the distance of the guide image according to the distance from the needle point of the puncture needle to the puncture target.
- The method of claim 5, wherein the controlling of the change of the display state of the guide image according to the distance from the puncture needle tip to the puncture target comprises:and when the distance from the needle point of the puncture needle to the puncture target is smaller than a first threshold value, controlling the fourth guide map to fade out or disappear immediately.
- The method of claim 2, wherein the generating a guidance image from the position information of the interventional object comprises:calculating the needle point coordinate and the needle tail coordinate of the puncture needle;and mapping the needle point coordinate and the needle tail coordinate to a plane where the ultrasonic image is located so as to generate the guide image.
- The method of claim 2, wherein the obtaining positional information of the interventional object comprises:detecting the magnetic field intensity of the magnetized puncture needle;and determining the position information of the puncture needle according to the magnetic field intensity.
- The method according to any one of claims 2-9, further comprising:generating a puncture indication map according to the position information of the puncture needle, wherein the position information comprises the position relation of the puncture needle relative to a probe, and the puncture indication map indicates the distance and/or puncture angle from the puncture needle to the plane where the ultrasonic image is located;and displaying the puncture indication map.
- The method according to any one of claims 2-9, further comprising:and if the puncture needle reaches the puncture target, generating warning information when the distance of continuous puncture along the puncture path exceeds a second threshold value.
- An ultrasound imaging apparatus, comprising: the device comprises a probe, a transmitting circuit, a receiving circuit processor and a display;the transmitting circuit transmits ultrasonic waves to a target area;the receiving circuit controls the probe to receive the ultrasonic echo returned by the target area so as to obtain ultrasonic echo data;the processor generates an ultrasonic image according to the ultrasonic echo data;the processor obtaining positional information of an interventional object;the processor generating a guide image from the position information of the interventional object, the guide image indicating a positional relationship of the interventional object with a puncture target within the target region;the display displays the ultrasound image and the guide image.
- The ultrasound imaging device of claim 12, wherein the interventional object comprises a puncture needle, and wherein the guide image comprises at least one of: a first guide diagram indicating a region where the puncture needle is located, a second guide diagram indicating a region where the tip of the puncture needle is located, a third guide diagram indicating a region where the puncture target is located, and a fourth guide diagram indicating a puncture path of the puncture needle.
- The ultrasound imaging device of claim 13, wherein the fourth guide map comprises a guide wire including scale markings for indicating a distance of the puncture needle to the puncture target.
- The ultrasound imaging apparatus of claim 14,when the intervention angle of the puncture needle deflects, the processor determines the deflection angle of the puncture needle;the processor controls the deflection of the guide wire according to the deflection angle of the puncture needle.
- The ultrasound imaging apparatus of claim 13,the processor determines the distance from the needle point of the puncture needle to the puncture target;and the processor controls the display state change of the guide image according to the distance from the needle point of the puncture needle to the puncture target.
- The ultrasound imaging apparatus of claim 16,the processor controls the color change and/or the numerical value display change of the distance of the guide image according to the distance from the puncture needle tip to the puncture target.
- The ultrasound imaging apparatus of claim 16,when the distance from the needle point of the puncture needle to the puncture target is smaller than a first threshold value, the controller controls the fourth guide map to fade out or disappear immediately.
- The ultrasound imaging apparatus of claim 13,the processor calculates the needle point coordinate and the needle tail coordinate of the puncture needle;and the processor maps the needle point coordinate and the needle tail coordinate to a plane where the ultrasonic image is positioned so as to generate the guide image.
- The ultrasound imaging apparatus of claim 13,the processor detects the magnetic field intensity after the puncture needle is magnetized; and determining the position information of the puncture needle according to the magnetic field intensity.
- The ultrasonic imaging apparatus of any one of claims 13 to 20,the processor generates a puncture indication map according to the position information of the puncture needle, and the puncture indication map indicates the position and/or puncture angle of the puncture needle relative to the probe;the display displays the puncture indication map.
- The ultrasonic imaging apparatus of any one of claims 13 to 20,and if the puncture needle reaches the puncture target and the distance for continuing puncturing along the puncture path exceeds a second threshold value, the processor generates warning information.
- An ultrasound imaging method, comprising:transmitting ultrasonic waves to a target area through a probe, and receiving ultrasonic echoes returned by the target area to obtain ultrasonic echo data;generating an ultrasonic image according to the ultrasonic echo data;acquiring the position relation of an interventional object relative to the probe;generating a puncture indication map according to the position relation of the interventional object relative to the probe, wherein the puncture indication map indicates the position relation of the interventional object relative to the plane where the ultrasonic image is located;and displaying the ultrasonic image and the puncture indication map.
- The method of claim 23, wherein the interventional object comprises a puncture needle,the indicating of the puncture map indicating the positional relationship of the interventional object with respect to the plane in which the ultrasound image is located includes: the puncture indication map indicates the distance and/or puncture angle from the puncture needle to the plane where the ultrasonic image is located.
- The method according to claim 23 or 24, wherein the penetration indication map further indicates a distance and/or a penetration angle of the interventional object to the probe.
- An ultrasound imaging apparatus, comprising: the device comprises a probe, a transmitting circuit, a receiving circuit processor and a display;the transmitting circuit transmits ultrasonic waves to a target area through the probe;the receiving circuit controls the probe to receive the ultrasonic echo returned by the target area so as to obtain ultrasonic echo data;the processor generates an ultrasonic image according to the ultrasonic echo data;the processor acquires a positional relationship of an interventional object relative to the probe;the processor generates a puncture indication map according to the position relation of the interventional object relative to the probe, wherein the puncture indication map indicates the position relation of the interventional object relative to the plane where the ultrasonic image is located;the display displays the ultrasound image and the puncture indication map.
- The ultrasound imaging device of claim 26, wherein the interventional object comprises a puncture needle;the indicating of the puncture map indicating the positional relationship of the interventional object with respect to the plane in which the ultrasound image is located includes: the puncture indication map indicates the distance and/or puncture angle from the puncture needle to the plane where the ultrasonic image is located.
- The ultrasound imaging device according to claim 26 or 27, wherein the penetration indication map further indicates a distance and/or a penetration angle of the interventional object to the probe.
- A puncture navigation system comprising a magnetizer for magnetizing an interventional object and the ultrasonic imaging apparatus according to any one of claims 12 to 22 and 26 to 28.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| PCT/CN2018/100250 WO2020034065A1 (en) | 2018-08-13 | 2018-08-13 | Method for ultrasound imaging, ultrasound imaging device, and puncture navigation system |
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| CN112533540A true CN112533540A (en) | 2021-03-19 |
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