CN112672692A - Ultrasonic imaging method, ultrasonic imaging equipment and storage medium - Google Patents

Ultrasonic imaging method, ultrasonic imaging equipment and storage medium Download PDF

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Publication number
CN112672692A
CN112672692A CN201880097451.8A CN201880097451A CN112672692A CN 112672692 A CN112672692 A CN 112672692A CN 201880097451 A CN201880097451 A CN 201880097451A CN 112672692 A CN112672692 A CN 112672692A
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coordinate system
reference body
orientation information
information
determining
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丛龙飞
王勃
安兴
刘羽西
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Shenzhen Mindray Bio Medical Electronics Co Ltd
Shenzhen Mindray Scientific Co Ltd
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Shenzhen Mindray Bio Medical Electronics Co Ltd
Shenzhen Mindray Scientific Co Ltd
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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

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Abstract

An ultrasound imaging method includes determining a reference body coordinate system (S201); performing ultrasonic imaging on a target tissue through an ultrasonic probe to acquire an ultrasonic image of the target tissue, and acquiring azimuth information of the ultrasonic probe (S202); determining first orientation information of a target tissue from an ultrasound image (S203); determining tissue position information of the target tissue in the reference body coordinate system according to the first position information and the position information of the ultrasonic probe (S204); determining human body orientation information of the current target tissue in the reference body coordinate system (S205); the tissue orientation information and the human body orientation information are displayed in the reference body coordinate system (S206). An ultrasound imaging device (10) and a computer readable storage medium are also disclosed.

Description

Ultrasonic imaging method, ultrasonic imaging equipment and storage medium Technical Field
The embodiment of the invention relates to the technical field of image processing, in particular to an ultrasonic imaging method, ultrasonic imaging equipment and a storage medium.
Background
Prior to heart valve replacement surgery or radiological intervention, the physician needs to know the directional position of the target tissue relative to the body, i.e., the position of the patient's heart, and the directional positions of the heart valve and valve orifice relative to the body, in order to select the surgical incision site.
Currently, in clinical practice, a human body is generally subjected to projection imaging by using Digital Subtraction Angiography (DSA), Digital direct imaging (DR), and the like, and a doctor roughly estimates the direction and position of a target tissue relative to the human body based on the projected image. In addition, the heart can be imaged using ultrasound, and the physician can approximate the directional position of the target tissue relative to the body based on the orientation of the probe.
However, the above methods are all subjective judgments made by doctors based on experience, and the determined direction and position of the target tissue relative to the human body are not accurate.
Disclosure of Invention
In order to solve the above technical problem, embodiments of the present invention desirably provide an ultrasound imaging method, an ultrasound imaging apparatus, and a storage medium, which are capable of displaying tissue orientation information of a target tissue and human body orientation information where the target tissue is located in a reference body coordinate system, so as to accurately determine a directional position of the target tissue relative to a human body.
The technical scheme of the embodiment of the invention can be realized as follows:
the embodiment of the invention provides an ultrasonic imaging method, which comprises the following steps:
determining a reference body coordinate system;
carrying out ultrasonic imaging on a target tissue through an ultrasonic probe to obtain an ultrasonic image of the target tissue and obtain azimuth information of the ultrasonic probe;
determining first orientation information of the target tissue from the ultrasound image;
determining tissue position information of the target tissue in the reference body coordinate system according to the first position information and the position information of the ultrasonic probe;
determining the human body orientation information of the current target tissue in the reference body coordinate system;
and displaying the tissue orientation information and the human body orientation information in the reference body coordinate system.
In the foregoing solution, the determining with reference to the body coordinate system includes:
determining orientation information of a reference body, wherein the reference body is a human body or a bed where the human body is located, and the orientation information of the reference body represents any orientation information of the reference body in a stable state;
and determining the reference body coordinate system according to the orientation information of the reference body.
In the above solution, before determining the tissue location information of the target tissue in the reference body coordinate system according to the first location information and the location information of the ultrasound probe, the method further includes:
and acquiring a first mapping relation and a second mapping relation, wherein the first mapping relation is a mapping relation between an ultrasonic image coordinate system and a positioning device coordinate system, and the second mapping relation is a mapping relation between a world coordinate system and the reference body coordinate system.
In the above solution, the determining tissue location information of the target tissue in the reference body coordinate system according to the first location information and the location information of the ultrasound probe includes:
mapping the first orientation information according to the first mapping relation, and determining second orientation information of the target tissue in a coordinate system of the positioning device;
determining a third mapping relation according to the position information of the ultrasonic probe, mapping the second position information according to the third mapping relation, and determining third position information of the target tissue in the world coordinate system, wherein the third mapping relation is the mapping relation between the coordinate system of the positioning device and the world coordinate system;
and mapping the third orientation information according to the second mapping relation to determine the tissue orientation information.
In the foregoing solution, the obtaining the second mapping relationship includes:
acquiring the orientation information of the reference body in the world coordinate system according to the orientation information of the reference body;
and determining the second mapping relation according to the orientation information of the reference body in the world coordinate system.
In the above aspect, the method further includes:
mapping the position information of the ultrasonic probe according to the second mapping relation, and determining the position information of the ultrasonic probe in the reference body coordinate system;
and displaying the position information of the ultrasonic probe in the reference body coordinate system.
In the above solution, the displaying the tissue orientation information and the human body orientation information in the reference body coordinate system includes:
displaying the tissue orientation information and the human body orientation information in the reference body coordinate system according to at least one of a color, a shape, and an icon.
In the above solution, the displaying the tissue orientation information and the human body orientation information in the reference body coordinate system includes:
and displaying the reference body coordinate system in a multi-dimensional model or Virtual Reality (VR) mode, and displaying the tissue orientation information and the human body orientation information in the reference body coordinate system.
In the above solution, the displaying the tissue orientation information and the human body orientation information in the reference body coordinate system includes:
marking the tissue orientation information and the human body orientation information in the reference body coordinate system in a highlighted manner;
alternatively, a boundary line between the tissue orientation information and the body orientation information is drawn in the reference body coordinate system as a thick line;
alternatively, only the tissue orientation information and the human body orientation information may be displayed in the reference body coordinate system, and the other regions other than the tissue orientation information and the human body orientation information may be hidden.
In the above solution, the displaying the positional information of the ultrasound probe in the reference body coordinate system includes:
and displaying the position information of the ultrasonic probe in the reference body coordinate system according to at least one of color, shape and icon.
In the above solution, the displaying the positional information of the ultrasound probe in the reference body coordinate system includes:
and displaying the reference body coordinate system in a multi-dimensional model or Virtual Reality (VR) mode, and displaying the orientation information of the ultrasonic probe in the reference body coordinate system in real time.
In the above solution, the determining the first location information of the target tissue from the ultrasound image includes:
determining feature points corresponding to the target tissue in the two-dimensional ultrasonic image according to a preset identification algorithm;
and determining the azimuth information corresponding to the feature point as the first azimuth information.
In the above solution, the determining the first location information of the target tissue from the ultrasound image includes:
determining an image area corresponding to the target tissue in the multi-dimensional ultrasonic image according to a preset identification algorithm;
and determining the azimuth information corresponding to the image area as the first azimuth information.
In the above aspect, the determining the orientation information of the reference body includes:
acquiring azimuth information of the reference body through a fitting positioning device, wherein the fitting positioning device is fitted to any azimuth of the reference body in a stable state;
and acquiring the position information of the ultrasonic probe, and determining the position information of the ultrasonic probe as the position information of the reference body, wherein the ultrasonic probe is placed at any position of the reference body in a stable state.
In the above solution, the determining the body orientation information of the current target tissue in the reference body coordinate system includes:
acquiring the corresponding relation between the human body position information and the position information of the reference body;
and determining the human body orientation information in the reference body coordinate system according to the corresponding relation.
An embodiment of the present invention provides an ultrasound imaging apparatus, including:
an ultrasonic probe;
a probe positioning device internally or externally fixed on the ultrasonic probe;
a transmission/reception selection switch;
a transmitting/receiving sequence controller, wherein the transmitting/receiving sequence controller excites the ultrasonic probe to transmit ultrasonic waves to target tissues through the transmitting/receiving selection switch and controls the ultrasonic probe to receive ultrasonic echoes returned from the target tissues;
a processor for performing the steps of:
determining a reference body coordinate system; carrying out ultrasonic imaging on target tissues through the ultrasonic probe to obtain ultrasonic images of the target tissues, and obtaining azimuth information of the ultrasonic probe through the probe positioning device; determining first orientation information of the target tissue from the ultrasound image; determining tissue position information of the target tissue in the reference body coordinate system according to the first position information and the position information of the ultrasonic probe; determining the human body orientation information of the current target tissue in the reference body coordinate system;
a display for displaying the tissue orientation information and the human body orientation information in the reference body coordinate system.
In the above device, the processor is specifically configured to determine orientation information of a reference body, where the reference body is a human body or a bed where the human body is located, and the orientation information of the reference body represents any one of orientation information of the reference body in a stable state; and determining the reference body coordinate system according to the orientation information of the reference body.
In the above apparatus, the processor is further configured to, before determining the tissue orientation information of the target tissue in the reference body coordinate system according to the first orientation information and the orientation information of the ultrasound probe, acquire a first mapping relationship and a second mapping relationship, where the first mapping relationship is a mapping relationship between an ultrasound image coordinate system and a positioning apparatus coordinate system, and the second mapping relationship is a mapping relationship between a world coordinate system and the reference body coordinate system.
In the above apparatus, the processor is specifically configured to map the first location information according to the first mapping relationship, and determine second location information of the target tissue in the coordinate system of the positioning device; determining a third mapping relation according to the position information of the ultrasonic probe, mapping the second position information according to the third mapping relation, and determining third position information of the target tissue in the world coordinate system, wherein the third mapping relation is the mapping relation between the coordinate system of the positioning device and the world coordinate system; and mapping the third orientation information according to the second mapping relation to determine the tissue orientation information.
In the above device, the processor is specifically configured to obtain, according to the orientation information of the reference body, orientation information of the reference body in the world coordinate system; and determining the second mapping relation according to the orientation information of the reference body in the world coordinate system.
In the above apparatus, the processor is further configured to map the position information of the ultrasound probe according to the second mapping relationship, and determine the position information of the ultrasound probe in the reference body coordinate system;
the display is further used for displaying the position information of the ultrasonic probe in the reference body coordinate system.
In the above apparatus, the display is specifically configured to display the tissue orientation information and the human body orientation information in the reference body coordinate system according to at least one of a color, a shape, and an icon.
In the above apparatus, the display is specifically configured to display the reference body coordinate system by means of a multi-dimensional model or a virtual reality VR, and to display the tissue orientation information and the body orientation information in the reference body coordinate system.
In the above apparatus, the display is specifically configured to highlight the tissue orientation information and the human body orientation information in the reference body coordinate system;
alternatively, a boundary line between the tissue orientation information and the body orientation information is drawn in the reference body coordinate system as a thick line;
alternatively, only the tissue orientation information and the human body orientation information may be displayed in the reference body coordinate system, and the other regions other than the tissue orientation information and the human body orientation information may be hidden.
In the above apparatus, the display is specifically configured to display the positional information of the ultrasound probe in the reference body coordinate system according to at least one of a color, a shape, and an icon.
In the above apparatus, the display is specifically configured to display the reference body coordinate system by means of a multi-dimensional model or virtual reality VR, and display the orientation information of the ultrasound probe in the reference body coordinate system in real time.
In the above device, the ultrasound image is a two-dimensional ultrasound image, and the processor is specifically configured to determine a feature point corresponding to the target tissue in the two-dimensional ultrasound image according to a preset recognition algorithm; and determining the azimuth information corresponding to the feature point as the first azimuth information.
In the above device, the ultrasound image includes a multi-dimensional ultrasound image, and the processor is specifically configured to determine an image region corresponding to the target tissue in the multi-dimensional ultrasound image according to a preset recognition algorithm; and determining the azimuth information corresponding to the image area as the first azimuth information.
In the equipment, the equipment is also externally connected with a joint positioning device;
the processor is used for acquiring the position information of the reference body through the attaching and positioning device, wherein the attaching and positioning device is attached to any position of the reference body in a stable state;
the processor is further configured to acquire the position information of the ultrasonic probe through the probe positioning device, and determine the position information of the ultrasonic probe as the position information of the reference body, where the ultrasonic probe is placed in any position of the reference body in a stable state.
In the above device, the processor is specifically configured to obtain a correspondence between the human body orientation information and the orientation information of the reference body; and determining the human body orientation information in the reference body coordinate system according to the corresponding relation.
An embodiment of the present invention provides a computer-readable storage medium, which stores an ultrasound imaging program, where the ultrasound imaging program can be executed by a processor to implement the above ultrasound imaging method.
Therefore, in the technical scheme of the embodiment of the invention, the reference body coordinate system is determined; carrying out ultrasonic imaging on the target tissue through an ultrasonic probe to obtain an ultrasonic image of the target tissue and obtaining azimuth information of the ultrasonic probe; determining first orientation information of a target tissue from an ultrasound image; determining tissue position information of the target tissue in a reference body coordinate system according to the first position information and the position information of the ultrasonic probe; determining human body orientation information of the current target tissue in a reference body coordinate system; and displaying the tissue orientation information and the human body orientation information in the reference body coordinate system. That is to say, the technical solution provided by the embodiment of the present invention can set the reference body coordinate system, and display the tissue orientation information of the target tissue and the human body orientation information of the target tissue in the reference body coordinate system, so as to accurately determine the directional position of the target tissue relative to the human body, so as to guide the operator to perform the relevant operation on the target tissue.
Drawings
Fig. 1 is a schematic structural diagram of an ultrasonic imaging apparatus according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of an ultrasonic imaging method according to an embodiment of the present invention;
FIG. 3 is a first schematic diagram illustrating a first example of determining a reference coordinate system according to an embodiment of the present invention;
FIG. 4 is a second schematic diagram illustrating a reference coordinate system determination according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a mapping relationship provided in an embodiment of the present invention;
fig. 6 is a schematic diagram illustrating an exemplary display of tissue orientation information and human body orientation information in a reference body coordinate system according to an embodiment of the present invention.
Detailed Description
So that the manner in which the features and aspects of the embodiments of the present invention can be understood in detail, a more particular description of the embodiments of the invention, briefly summarized above, may be had by reference to the embodiments, some of which are illustrated in the appended drawings.
The embodiment of the invention provides an ultrasonic imaging method, which is applied to ultrasonic imaging equipment. Fig. 1 is a schematic structural diagram of an ultrasound imaging apparatus according to an embodiment of the present invention. As shown in fig. 1, the ultrasonic imaging apparatus 10 includes: an ultrasonic probe 101, a probe positioning device 102 internally or externally fixed to the ultrasonic probe 101; a transmit/receive select switch 103, a transmit/receive sequence controller 104, a processor 105, and a display 106.
It should be noted that, in the embodiment of the present invention, the transmit/receive sequence controller 104 may excite the ultrasound probe 102 to transmit the ultrasound waves to the target tissue through the transmit/receive selection switch 103, and may also control the ultrasound probe 101 to receive the ultrasound echoes returned from the target tissue, so as to obtain the ultrasound echo signals/data. The processor 105 processes the ultrasound echo signals/data to obtain an ultrasound image of the target tissue.
It should be noted that, in the embodiment of the present invention, the probe positioning device 102 may be an inertial navigation device, i.e., a micro-electromechanical inertial measurement unit, which generally includes a three-axis accelerometer and a three-axis gyroscope, and may further include a magnetic field strength meter, or may further include more accelerometers and gyroscope devices. The inertial navigation device can be internally fixed on a board card inside the ultrasonic probe or inside the ultrasonic probe shell. Meanwhile, the inertial navigation device is connected with the processor 105 through an ultrasonic probe cable, and transmits the real-time attitude information of the ultrasonic probe to the processor 105.
It should be noted that, in the embodiment of the present invention, the ultrasound imaging apparatus may further include: memory 107, the ultrasound images obtained by processor 105 may be stored in memory 107, and the ultrasound images may be displayed on display 106.
In the embodiment of the present invention, the display 106 of the ultrasonic imaging apparatus 10 may be a touch display screen, a liquid crystal display, or the like, or may be an independent display apparatus such as a liquid crystal display, a television, or the like, which is independent of 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 the embodiment of the present invention, 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.
Embodiments of the present invention also provide a computer-readable storage medium storing an ultrasound imaging program, which can be executed by the processor 105 to implement the ultrasound imaging method of the present invention.
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 the embodiment of the present invention, the processor 105 of the ultrasound imaging system 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 execute the corresponding steps of the ultrasound imaging method in each embodiment.
The ultrasound imaging method in the present invention is described in detail below based on the ultrasound imaging apparatus 10 described above.
Fig. 2 is a schematic flow chart of an ultrasound imaging method according to an embodiment of the present invention. As shown in fig. 2, the method mainly comprises the following steps:
s201, determining a reference body coordinate system.
In an embodiment of the present invention, the processor 105 of the ultrasound imaging device 10 may determine the reference body coordinate system.
Specifically, in the embodiment of the present invention, the determining the reference coordinate system by the processor 105 includes: determining orientation information of a reference body; and determining a reference body coordinate system according to the orientation information of the reference body. The reference body is a human body or a bed where the human body is located, and the position information of the reference body represents any position information of the reference body in a stable state.
In the embodiment of the present invention, the reference body may be a human body or a bed in which the human body is located, and when the reference body is a human body, the position near the throat in the middle of the sternum of the human body is not affected by the respiration of the human body, and therefore, the position information of the position can be determined as the position information of the reference body. Specific reference body position information embodiments of the present invention are not limited.
Specifically, in the embodiment of the present invention, after the processor 105 determines the orientation information of the reference body, not only the reference body coordinate system may be determined based on the orientation information of the reference body, but also the mapping relationship between the world coordinate system and the reference body coordinate system may be determined based on the orientation information of the reference body.
It should be noted that, in the embodiment of the present invention, since the probe positioning device 102 is built in or externally fixed to the ultrasound probe 101, the ultrasound probe 101 can be directly placed at a position of the reference body that can represent that the reference body is in a stable state, and the probe positioning device 102 obtains the position information of the reference body in the world coordinate system. In addition, the ultrasonic imaging apparatus 10 may further be externally connected with a bonding positioning device 11, and the position information of the reference body is collected through the bonding positioning device 11, wherein the bonding positioning device 11 is bonded to any position of the reference body in a stable state.
It should be noted that, in the embodiment of the present invention, the attaching and positioning device 11 may be connected to the ultrasound imaging apparatus 10 through a wire, or may be wirelessly connected to the ultrasound imaging apparatus 10, and a specific connection manner of the attaching and positioning device 11 and the ultrasound imaging apparatus 10 is not limited in the embodiment of the present invention.
Fig. 3 is a first schematic diagram illustrating a reference coordinate system determination according to an embodiment of the present invention. As shown in fig. 3, the reference body is a human body, the ultrasonic imaging device 10 is externally connected to the attaching and positioning device 11, the attaching and positioning device 11 is attached to the center of the sternum of the human body and is close to the throat, and the direction information (m, x, y, z, a, b, c) of the human body in the world coordinate system can be directly acquired through the attaching and positioning device 11. Wherein, x, y and z respectively represent the orientation information of the human body in the world coordinate system, and a, b and c respectively represent the Euler angles of the human body in the world coordinate system, and specifically: pitch angle, off-track angle and roll angle can characterize the direction information of the human body, and m is a mapping matrix from a coordinate system of the positioning device to a world coordinate system when the attaching and positioning device 11 is at the current position. After the processor 105 acquires the orientation information of the human body in the world coordinate system, the world coordinate system is actually rotated according to the acquired euler angle, and then the position of the lamination positioning device 11 at which the origin of the rotated world coordinate system is moved is obtained, the obtained coordinate system is the human body coordinate system, i.e., the reference body coordinate system, and the mapping matrix m is the mapping relationship between the world coordinate system and the reference body coordinate system.
Fig. 4 is a second schematic diagram illustrating a reference coordinate system determination according to an embodiment of the present invention. As shown in fig. 4, the ultrasound probe 101 is placed in the middle of the sternum of the human body near the throat, and the orientation information (m, x, y, z, a, b, c) of the human body in the world coordinate system can be obtained and stored by the probe positioning device 102 configured by the ultrasound probe 101, wherein m is a mapping matrix of the positioning device coordinate system to the world coordinate system when the probe positioning device 102 is at the current position. After the processor 105 acquires the orientation information of the human body in the world coordinate system, the world coordinate system is actually rotated according to the acquired euler angle, and then the origin of the rotated world coordinate system is moved to the position of the ultrasonic probe 101, the acquired coordinate system is a human body coordinate system, i.e., a reference body coordinate system, and the mapping matrix m is a mapping relationship between the world coordinate system and the reference body coordinate system.
It is understood that, in the embodiment of the present invention, the human body direction can be represented by referring to one axis in the body coordinate system, that is, the z axis.
S202, carrying out ultrasonic imaging on the target tissue through the ultrasonic probe to obtain an ultrasonic image of the target tissue, and obtaining the azimuth information of the ultrasonic probe.
Specifically, in the embodiment of the present invention, the ultrasound probe 101 may perform ultrasound imaging on the target tissue, that is, transmit an ultrasound wave and receive an ultrasound echo, and the processor 105 may generate an ultrasound image of the target tissue based on the ultrasound echo received by the ultrasound probe 101.
Specifically, in the embodiment of the present invention, the probe positioning device 102 is configured on the ultrasound probe 101, so when the ultrasound probe 101 transmits an ultrasound wave to a target tissue, the probe positioning device 102 can directly acquire the positional information of the ultrasound probe 101.
It should be noted that, in the embodiment of the present invention, when the ultrasound probe 101 performs ultrasound imaging on a target tissue, ultrasound waves may be transmitted to the target tissue at different positions and in different directions and ultrasound echoes are received, and the processor 105 may generate a plurality of ultrasound images with different slices according to the received different ultrasound echoes. Specific ultrasound images embodiments of the present invention are not limited.
It should be noted that, in the embodiment of the present invention, when the ultrasonic probe 101 performs ultrasonic imaging on a target tissue, and transmits ultrasonic waves to the target tissue at different positions and in different directions and receives ultrasonic echoes, the probe positioning device 102 configured to the ultrasonic probe 101 may obtain the position information of the corresponding ultrasonic probe 101 at each position and in each direction.
Illustratively, in the embodiment of the present invention, the target tissue is a heart, the ultrasound probe 101 may transmit ultrasound waves to the target tissue at different positions and different angles to the heart and receive ultrasound echoes, and the processor 105 may generate ultrasound images of a standard 2-chamber heart, 3-chamber heart and 4-chamber heart isosecant of the heart according to the ultrasound echoes, wherein, when the ultrasonic probe 101 sends the ultrasonic wave for generating the 2-chamber heart ultrasonic image to the heart in the first direction, the probe positioning device 102 acquires first orientation information of the ultrasound probe 101 (m1, x1, y1, z1, a1, b1, c1), the first orientation information is orientation information and euler angles in a world coordinate system when the ultrasound probe 101 transmits the ultrasound waves for generating the 2-chamber-heart ultrasound image to the heart, x1, y1, and z1 are orientation information, a1, b1, and c1 are euler angles, and m1 is a mapping matrix of the first sub-azimuth positioning device coordinate system to the world coordinate system. Similarly, when the ultrasound probe 101 transmits the ultrasound waves for generating the 3-hearted ultrasound image to the heart at the second position, the probe positioning device 102 acquires the second position information of the ultrasound probe 101 (m2, x2, y2, z2, a2, b2, c2), and when the ultrasound probe 101 transmits the ultrasound waves for generating the 4-hearted ultrasound image to the heart at the third position, the probe positioning device 102 acquires the third position information of the ultrasound probe 101 (m3, x3, y3, z3, a3, b3, c 3). The processor 105 may thus obtain: the first positional information of the ultrasound probe 101 corresponding to the 2-chamber-heart ultrasound image, the second positional information of the ultrasound probe 101 corresponding to the 3-chamber-heart ultrasound image, and the third positional information of the ultrasound probe 101 corresponding to the 4-chamber-heart ultrasound image.
It should be noted that in the embodiment of the present invention, the ultrasound probe 101 may be a different type of probe, for example, a 2D probe or a 4D probe, and the ultrasound images generated by the processor 105 may be of different dimensions based on the different type of probe for performing the ultrasound imaging.
S203, determining first orientation information of the target tissue from the ultrasonic image.
In an embodiment of the present invention, after obtaining the ultrasound image, the processor 105 may determine first location information of the target tissue from the ultrasound image.
Specifically, in the embodiment of the present invention, the ultrasound image is a two-dimensional ultrasound image, and the processor 105 determines the first location information of the target tissue from the ultrasound image, including: determining characteristic points corresponding to target tissues in the two-dimensional ultrasonic image according to a preset identification algorithm; and determining the azimuth information corresponding to the feature points as first azimuth information.
It should be noted that, in the embodiment of the present invention, the ultrasound imaging apparatus 10 stores a preset recognition algorithm, for example, a convolutional neural network technique using deep learning is used to learn on a large number of ultrasound images, so as to obtain a recognition algorithm, and the recognition algorithm is used as the preset recognition algorithm. The specific preset identification algorithm is not limited in the embodiments of the present invention.
Illustratively, in the embodiment of the present invention, when the mitral valve of the heart needs to be located, the ultrasound probe 101 transmits ultrasound waves and receives ultrasound echoes to the heart according to different positions and different directions, and the processor 105 may generate a standard 2-chamber-heart ultrasound image and a 4-chamber-heart ultrasound image of the heart according to the different ultrasound echoes, where the 2-chamber-heart ultrasound image and the 4-chamber-heart ultrasound image are both ultrasound images of the target tissue and are two-dimensional ultrasound images. Because the mitral valve position structure is distinctive, the processor 105 can identify two end points P1 and P2 of the mitral valve annulus in the 2-chamber-heart ultrasound image according to a preset identification algorithm, and similarly, the processor 105 can identify two end points P3 and P4 of the mitral valve annulus in the 4-chamber-heart ultrasound image, wherein P1, P2, P3 and P4 are points in the ultrasound image, and the processor 105 can directly acquire corresponding coordinates of the points in the ultrasound image coordinate system and determine orientation information of the four points as first orientation information.
It should be noted that, in the embodiment of the present invention, the ultrasound probe 101 may perform ultrasound imaging on the target tissue only once to obtain a two-dimensional ultrasound image, and at this time, if the processor 105 determines feature points corresponding to the target tissue in the two-dimensional ultrasound image according to a preset identification algorithm, if the identified feature points are fewer, some feature points may also be determined in a predictive manner.
Illustratively, in the embodiment of the present invention, when the mitral valve of the heart needs to be positioned, the ultrasound probe 101 transmits ultrasound waves and receives ultrasound echoes to the heart at a fixed position and direction, and the processor 105 generates an ultrasound image of only any one section of the 4-chamber heart, the 3-chamber heart and the 2-chamber heart, i.e., a two-dimensional ultrasound image, according to the ultrasound echoes. The processor 105 determines only two mitral annulus end points, namely two feature points P1 and P2, according to a preset identification algorithm, and therefore, assuming that the mitral annulus is a circular ring with diameters of P1 and P2 perpendicular to the section displayed by the ultrasound image, coordinates of P1 and P2 in the ultrasound coordinate system, namely, orientation information, P1(a1, B1, C1), P2(a2, B2, C2), respectively, are obtained, and then it is determined that there is a point P3((a1+ a2)/2, (B1+ B2)/2, (C1+ C2)/2+ Dis/2) on the mitral annulus, where Dis is the distance between P1 and P2, and P1, P2 and P3 are determined as the first orientation information.
Specifically, in the embodiment of the present invention, the ultrasound image is a multi-dimensional ultrasound image, and the processor 105 determines the first location information of the target tissue from the ultrasound image, including: determining an image area corresponding to a target tissue in the multi-dimensional ultrasonic image according to a preset identification algorithm; and determining the azimuth information corresponding to the image area as first azimuth information.
Illustratively, in the embodiment of the present invention, when the ultrasound probe 101 is a 4D probe, and when the mitral valve of the heart needs to be positioned, and the ultrasound probe 101 performs ultrasound imaging on the heart, the ultrasound echo represents 4D ultrasound data, and the processor 105 determines an ultrasound image of the target tissue according to the ultrasound echo, which may be directly a 4D ultrasound image. Therefore, the processor 105 may determine the image region corresponding to the mitral valve annulus in the multi-dimensional ultrasound image according to a preset identification algorithm, without identifying feature points such as an end point of the mitral valve annulus, and the processor 105 may directly acquire the location information corresponding to the image region in the ultrasound image coordinate system, and determine the location information of the region as the first location information.
And S204, determining tissue position information of the target tissue in the reference body coordinate system according to the first position information and the position information of the ultrasonic probe.
In an embodiment of the present invention, after determining the first orientation information of the target tissue, the processor 105 may determine tissue orientation information of the target tissue in the reference body coordinate system according to the first orientation information and the orientation information of the ultrasound probe.
It should be noted that, in the embodiment of the present invention, before executing the following step S204, the processor 105 further needs to execute the following steps: and acquiring a first mapping relation and a second mapping relation, wherein the first mapping relation is the mapping relation between an ultrasonic image coordinate system and a positioning device coordinate system, and the second mapping relation is the mapping relation between a world coordinate system and a reference body coordinate system.
Specifically, in this embodiment of the present invention, the acquiring, by the processor 105, the second mapping relationship includes: acquiring the orientation information of the reference body in a world coordinate system according to the orientation information of the reference body; and determining the second mapping relation according to the orientation information of the reference body in the world coordinate system.
In the embodiment of the present invention, when the reference body coordinate system is established in step S201, the position information of the reference body in the world coordinate system is already acquired, when the position information of the reference body in the world coordinate system is acquired, the mapping matrix of the corresponding positioning device coordinate system to the world coordinate system is used when the positioning device is at the current position, for example, when the position information of the reference body in the world coordinate system is acquired by the probe positioning device 102, when the position information of the reference body in the world coordinate system includes the mapping matrix of the positioning device coordinate system to the world coordinate system when the probe positioning device 102 is at the current position, when the position information of the reference body in the world coordinate system includes the mapping matrix of the bonding positioning device 11 in the current position, when the position information of the reference body in the world coordinate system includes the mapping matrix of the positioning device coordinate system to the world coordinate system, since the processor 105 is specifically based on the orientation information of the reference body in the world coordinate system as a reference of the reference body coordinate system, the mapping matrix may actually represent the mapping relationship from the reference body coordinate system to the world coordinate system, and the processor 105 may directly determine the mapping matrix as the second mapping relationship, i.e., the mapping relationship between the world coordinate system and the reference body coordinate system. That is, the processor 105 may determine the second mapping relationship during the process of establishing the reference coordinate system.
It should be noted that, in the embodiment of the present invention, as for the first mapping relationship, the mapping relationship between the ultrasound image coordinate system and the positioning device coordinate system is fixed, and is actually the mapping relationship between the ultrasound image coordinate system and the probe positioning device 102, that is, the mapping relationship of the coordinate system established by the positioning device itself configured on the ultrasound probe 101, which is used when acquiring the orientation information of the ultrasound probe during the ultrasound imaging, is stored in the ultrasound imaging apparatus 10 in advance, and therefore, the processor 105 may directly acquire the mapping relationship.
Fig. 5 is a schematic diagram of a mapping relationship according to an embodiment of the present invention. As shown in fig. 5, the first mapping relationship is a, and is fixed, and the second mapping relationship, that is, the mapping relationship between the world coordinate system and the reference coordinate system, is actually the mapping matrix m from the corresponding positioning device coordinate system to the world coordinate system when the probe positioning device 102 or the joint positioning device 11 is placed at the target position to obtain the position information of the reference body in the world coordinate system in step S201, and the probe positioning device 102 or the joint positioning device 11 included in the position information is at the current position.
Specifically, in the embodiment of the present invention, the determining, by the processor 105, the tissue location information of the target tissue in the reference body coordinate system according to the first location information and the location information of the ultrasound probe includes: mapping the first orientation information according to the first mapping relation, and determining second orientation information of the target tissue in a coordinate system of the positioning device; determining a third mapping relation according to the position information of the ultrasonic probe, mapping the second position information according to the third mapping relation, and determining third position information of the target tissue in a world coordinate system, wherein the third mapping relation is the mapping relation between a coordinate system of the positioning device and the world coordinate system; and mapping the third orientation information according to the second mapping relation to determine the tissue orientation information.
Specifically, in the embodiment of the present invention, when the mitral valve of the heart needs to be located, the ultrasound probe 101 transmits ultrasound waves and receives ultrasound echoes in different directions at different positions to the heart, the processor 105 may generate a standard 2-transluminal-cardiac ultrasound image and a 4-transluminal-cardiac ultrasound image of the heart according to the different ultrasound echoes, identify two mitral annulus endpoints P1 and P2 according to the 2-transluminal-cardiac ultrasound image, identify two mitral annulus endpoints P3 and P4 according to the 4-transluminal-cardiac ultrasound image, and map the location information of P1, P2, P3 and P4 in the ultrasound image coordinate system as first location information, the processor 105 first maps the location information of the four points according to a first mapping relationship, that is, the mapping relationship between the ultrasound image coordinate system and the locating device coordinate system, and determines second location information of the four points in the locating device coordinate system, wherein, the second azimuth information of P1 is Q1, the second azimuth information of P2 is Q2, the second azimuth information of P3 is Q3, and the second azimuth information of P4 is Q4. Next, the processor 105 determines a third mapping relationship according to the position information of the ultrasound probe 101, wherein two ultrasound images are obtained, so that two position information of the ultrasound probe 101 are actually obtained, that is, first position information and second position information, the first position information includes a first mapping matrix from the coordinate system of the positioning apparatus of the ultrasound probe 101 to the world coordinate system when the ultrasound probe 101 is located at the first position, the second position information includes a second mapping matrix from the coordinate system of the positioning apparatus of the ultrasound probe 101 to the world coordinate system when the ultrasound probe 101 is located at the second position, the first position is a position when the ultrasound probe performs 2-chamber-heart ultrasound image imaging, and the second position is a position when the ultrasound probe performs 4-chamber-heart ultrasound image imaging. The processor 105 may determine the first mapping matrix and the second mapping matrix as a third mapping relationship, then map the second orientation information according to the third mapping relationship, and determine third orientation information of the target tissue in the world coordinate system, where Q1 and Q2 are mapped according to the first mapping matrix to obtain third orientation information R1 and R2, and Q3 and Q4 are mapped according to the second mapping matrix to obtain third orientation information R3 and R4, R1, R2, R3, and R4 all being orientation information in the world coordinate system. Finally, R1, R2, R3 and R4 are mapped based on the second mapping relationship, i.e., the mapping relationship between the world coordinate system and the reference body coordinate system determined in step S201, and the tissue orientation information of the target tissue in the reference body coordinate system is determined.
Illustratively, in the embodiment of the present invention, the processor 105 generates a 2-chamber-heart ultrasound image and identifies two end points (P1, P2) of the mitral annulus, the first positional information of the corresponding ultrasound probe is (m1, x1, y1, z1, a1, b1, c1), the processor 105 generates a 4-chamber-heart ultrasound image and identifies two end points (P3, P4) of the mitral annulus, the second positional information of the corresponding ultrasound probe is (m2, x2, y2, z2, a2, b2, c2), the first mapping relationship is a mapping matrix a of the ultrasound image coordinate system to the coordinate system of the positioning device, the second mapping relationship is a mapping matrix m of the body coordinate system to the world coordinate system, therefore, (m1 × a × P1, m1 × a × P2, m2 a × P2, m × 2 × a × P2) represents the position information of the mitral annulus in the world coordinate system, (m1 × a2 × P2 represents the heart's position information in the heart's three-chamber-heart annulus-1×m1×A×P1，m -1×m1×A×P2，m -1×m 2×A×P3，m -1Xm 2 × a × P4) represents tissue orientation information of the mitral valve annulus in the reference body coordinate system.
And S205, determining the human body orientation information of the current target tissue in the reference body coordinate system.
In the embodiment of the present invention, after determining the tissue orientation information of the target tissue in the reference body coordinate system, the processor 105 may further determine the body orientation information of the current target tissue in the reference body coordinate system.
Specifically, in the embodiment of the present invention, the determining, by the processor 105, the human body orientation information where the current target tissue is located in the reference body coordinate system includes: acquiring the corresponding relation between the human body position information and the position information of a reference body; and determining the human body orientation information in the reference body coordinate system according to the corresponding relation.
It can be understood that, in the embodiment of the present invention, in order to clearly embody the orientation relationship between the tissue orientation information and the human body orientation information, it is necessary to determine not only the tissue orientation information of the target tissue in the reference body coordinate system, but also further determine the human body orientation information of the current target tissue in the reference body coordinate system, so that the human body orientation information is displayed simultaneously when the tissue orientation information is finally displayed in the reference body coordinate system, and a doctor can clearly specify the orientation relationship between the two and perform the related examination operation.
It can be understood that, in the embodiment of the present invention, the target tissue is located inside the human body, and the human body position information is position information of the human body where the target tissue is located.
In the embodiment of the present invention, the probe positioning device 102 may directly acquire the human body position information in a certain coordinate system, or the attachment positioning device 11 may acquire the human body position information in a certain coordinate system. If the acquired human body orientation information is orientation information in a world coordinate system, m is a mapping relation between the world coordinate system and a reference body coordinate system in the orientation information (m, x, y, z, a, b, c) of the reference body, so that m can be directly called as a corresponding relation between the human body orientation information and the orientation information of the reference body, and the human body orientation information in the world coordinate system can be mapped into the reference body coordinate system according to the corresponding relation, namely the human body orientation information is determined in the reference body coordinate system. Of course, if the obtained human body orientation information is the human body orientation information in other coordinate systems, the corresponding relationship between the other coordinate systems and the reference body coordinate system may also be obtained, the corresponding relationship is determined as the corresponding relationship between the human body orientation information and the orientation information of the reference body, and the human body orientation information in the other coordinate systems is mapped to the reference body coordinate system according to the corresponding relationship, so as to obtain the human body orientation information in the reference body coordinate system. The embodiment of the present invention is not limited to a specific correspondence relationship between the human body orientation information and the orientation information of the reference body, and an acquisition manner.
And S206, displaying the tissue orientation information and the human body orientation information in the reference body coordinate system.
In an embodiment of the present invention, after the processor 105 determines the tissue orientation information of the target tissue in the reference body coordinate system and determines the body orientation information of the current target tissue in the reference body coordinate system, the display 106 displays the tissue orientation information and the body orientation information in the reference body coordinate system.
Specifically, in the embodiment of the present invention, the displaying unit 106 displays the tissue orientation information and the human body orientation information in the reference body coordinate system, including: displaying the tissue orientation information and the human body orientation information in the reference body coordinate system according to at least one of a color, a shape, and an icon. For example, the tissue orientation information and the body orientation information are marked in the reference body coordinate system by a specific color, or marked in the reference body coordinate system by a dot, a small triangle, or the like, or marked in the reference body coordinate system by an icon, which may be an icon approximating a target tissue structure, or a substitute icon of the target tissue, or marked in the reference body coordinate system by an icon.
Of course, the entire reference body coordinate system may also be displayed through the multi-dimensional model, and the tissue orientation information and the body orientation information may be displayed in the reference body coordinate system, and may be specifically displayed in at least one of a color, a shape, and an icon, which is not specifically limited herein. Or, the whole reference body coordinate system can be truly displayed in a Virtual Reality (VR) manner, the structural feature and the orientation relationship of each tissue can be clearly seen under the reference body coordinate system, further, the tissue orientation information and the human body orientation information are clearly marked under the reference body coordinate system, so that the doctor can clearly observe the position relationship between the target tissue and the reference body coordinate system such as the human body/hospital bed, and of course, the orientation information or the posture information of the ultrasonic probe can also be displayed under the reference body coordinate system, so that the doctor can clearly observe the position relationship between the ultrasonic probe, the target tissue and the reference body coordinate system such as the human body/hospital bed, and the doctor can conveniently perform the examination operation. Further, the switching from one ultrasonic section to another ultrasonic section or from one ultrasonic perspective view to another ultrasonic perspective view can be guided by the positioning device under the VR reference body coordinate system and displayed in real time.
In the embodiment of the present invention, when the tissue orientation information and the body orientation information are displayed in the reference body coordinate system by the display of the multi-dimensional model or VR, the tissue orientation information and the body orientation information may be marked in the reference body coordinate system in a highlighted manner, or a boundary line between the tissue orientation information and the body orientation information may be drawn in the reference body coordinate system by a thick line, or only the tissue orientation information and the body orientation information may be displayed in the reference body coordinate system, and other regions except the tissue orientation information and the body orientation information may be hidden, so as to meet different requirements of the doctor in the examination operation. Similarly, the orientation information of the ultrasound probe in the reference body coordinate system may be displayed in any one of the above display modes. The doctor can select different display modes according to actual requirements, and the specific display mode is not limited in the embodiment of the invention.
In the embodiment of the present invention, the position information of the ultrasound probe 101 may be coordinates in a world coordinate system, and therefore, the processor 105 may map the position information of the ultrasound probe 101 according to the second mapping relationship to determine the position information of the ultrasound probe 101 in the reference body coordinate system, and the display 106 may display the position information of the ultrasound probe 101 in the reference body coordinate system according to at least one of a color, a shape, and an icon.
Fig. 6 is a schematic diagram illustrating an exemplary display of tissue orientation information and human body orientation information in a reference body coordinate system according to an embodiment of the present invention. As shown in fig. 6, in a reference body coordinate system, the orientation relationship of the human body, the mitral valve annulus, and the ultrasonic probe can be displayed, wherein a cylinder 1 represents the human body direction, a three-dimensional pie 2 represents the mitral valve annulus, and a graph 3 represents the ultrasonic probe 101.
It should be noted that the steps S201 to S205 are a standard ultrasound imaging method, and the mapping process may also be adjusted according to an actual positioning device.
The embodiment of the invention provides an ultrasonic imaging method, which comprises the steps of determining a reference body coordinate system; carrying out ultrasonic imaging on the target tissue through an ultrasonic probe to obtain an ultrasonic image of the target tissue and obtaining azimuth information of the ultrasonic probe; determining first orientation information of a target tissue from an ultrasound image; determining tissue position information of the target tissue in a reference body coordinate system according to the first position information and the position information of the ultrasonic probe; determining human body orientation information of the current target tissue in a reference body coordinate system; and displaying the tissue orientation information and the human body orientation information in the reference body coordinate system. That is to say, the technical solution provided by the embodiment of the present invention can set the reference body coordinate system, and display the tissue orientation information of the target tissue and the human body orientation information of the target tissue in the reference body coordinate system, so as to accurately determine the directional position of the target tissue relative to the human body, so as to guide the operator to perform the relevant operation on the target tissue.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of a hardware embodiment, a software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable signal processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable signal processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable signal processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable signal processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention.
Industrial applicability
In the technical scheme of the embodiment of the invention, the ultrasonic imaging equipment determines a reference body coordinate system; carrying out ultrasonic imaging on the target tissue through an ultrasonic probe to obtain an ultrasonic image of the target tissue and obtaining azimuth information of the ultrasonic probe; determining first orientation information of a target tissue from an ultrasound image; determining tissue position information of the target tissue in a reference body coordinate system according to the first position information and the position information of the ultrasonic probe; determining human body orientation information of the current target tissue in a reference body coordinate system; and displaying the tissue orientation information and the human body orientation information in the reference body coordinate system. That is to say, the technical solution provided by the embodiment of the present invention can set the reference body coordinate system, and display the tissue orientation information of the target tissue and the human body orientation information of the target tissue in the reference body coordinate system, so as to accurately determine the directional position of the target tissue relative to the human body, so as to guide the operator to perform the relevant operation on the target tissue.

Claims (31)

  1. A method of ultrasound imaging, the method comprising:
    determining a reference body coordinate system;
    carrying out ultrasonic imaging on a target tissue through an ultrasonic probe to obtain an ultrasonic image of the target tissue and obtain azimuth information of the ultrasonic probe;
    determining first orientation information of the target tissue from the ultrasound image;
    determining tissue position information of the target tissue in the reference body coordinate system according to the first position information and the position information of the ultrasonic probe;
    determining the human body orientation information of the current target tissue in the reference body coordinate system;
    and displaying the tissue orientation information and the human body orientation information in the reference body coordinate system.
  2. The method of claim 1, wherein the determining a reference coordinate system comprises:
    determining orientation information of a reference body, wherein the reference body is a human body or a bed where the human body is located, and the orientation information of the reference body represents any orientation information of the reference body in a stable state;
    and determining the reference body coordinate system according to the orientation information of the reference body.
  3. The method of claim 1 or 2, wherein prior to determining tissue position information of the target tissue in the reference body coordinate system from the first position information and the position information of the ultrasound probe, the method further comprises:
    and acquiring a first mapping relation and a second mapping relation, wherein the first mapping relation is a mapping relation between an ultrasonic image coordinate system and a positioning device coordinate system, and the second mapping relation is a mapping relation between a world coordinate system and the reference body coordinate system.
  4. The method of claim 3, wherein said determining tissue position information of the target tissue in the reference body coordinate system from the first position information and the position information of the ultrasound probe comprises:
    mapping the first orientation information according to the first mapping relation, and determining second orientation information of the target tissue in a coordinate system of the positioning device;
    determining a third mapping relation according to the position information of the ultrasonic probe, mapping the second position information according to the third mapping relation, and determining third position information of the target tissue in the world coordinate system, wherein the third mapping relation is the mapping relation between the coordinate system of the positioning device and the world coordinate system;
    and mapping the third orientation information according to the second mapping relation to determine the tissue orientation information.
  5. The method of claim 3, wherein obtaining the second mapping relationship comprises:
    acquiring the orientation information of the reference body in the world coordinate system according to the orientation information of the reference body;
    and determining the second mapping relation according to the orientation information of the reference body in the world coordinate system.
  6. The method according to any one of claims 3 to 5, further comprising:
    mapping the position information of the ultrasonic probe according to the second mapping relation, and determining the position information of the ultrasonic probe in the reference body coordinate system;
    and displaying the position information of the ultrasonic probe in the reference body coordinate system.
  7. The method of any one of claims 1 to 6, wherein the displaying the tissue orientation information and the body orientation information in the reference body coordinate system comprises:
    displaying the tissue orientation information and the human body orientation information in the reference body coordinate system according to at least one of a color, a shape, and an icon.
  8. The method of any one of claims 1 to 6, wherein the displaying the tissue orientation information and the body orientation information in the reference body coordinate system comprises:
    and displaying the reference body coordinate system in a multi-dimensional model or Virtual Reality (VR) mode, and displaying the tissue orientation information and the human body orientation information in the reference body coordinate system.
  9. The method of claim 8, wherein the displaying the tissue orientation information and the body orientation information in the reference body coordinate system comprises:
    marking the tissue orientation information and the human body orientation information in the reference body coordinate system in a highlighted manner;
    alternatively, a boundary line between the tissue orientation information and the body orientation information is drawn in the reference body coordinate system as a thick line;
    alternatively, only the tissue orientation information and the human body orientation information may be displayed in the reference body coordinate system, and the other regions other than the tissue orientation information and the human body orientation information may be hidden.
  10. The method of claim 6, wherein the displaying positional information of the ultrasound probe in the reference body coordinate system comprises:
    and displaying the position information of the ultrasonic probe in the reference body coordinate system according to at least one of color, shape and icon.
  11. The method of claim 10, wherein the displaying positional information of the ultrasound probe in the reference body coordinate system comprises:
    and displaying the reference body coordinate system in a multi-dimensional model or Virtual Reality (VR) mode, and displaying the orientation information of the ultrasonic probe in the reference body coordinate system in real time.
  12. The method of any one of claims 1 to 11, wherein the ultrasound image is a two-dimensional ultrasound image, and wherein determining the first orientation information of the target tissue from the ultrasound image comprises:
    determining feature points corresponding to the target tissue in the two-dimensional ultrasonic image according to a preset identification algorithm;
    and determining the azimuth information corresponding to the feature point as the first azimuth information.
  13. The method of any one of claims 1 to 11, wherein the ultrasound image comprises a multi-dimensional ultrasound image, and wherein determining the first orientation information of the target tissue from the ultrasound image comprises:
    determining an image area corresponding to the target tissue in the multi-dimensional ultrasonic image according to a preset identification algorithm;
    and determining the azimuth information corresponding to the image area as the first azimuth information.
  14. The method of any of claims 2 to 13, wherein determining positional information of a reference body comprises:
    acquiring azimuth information of the reference body through a fitting positioning device, wherein the fitting positioning device is fitted to any azimuth of the reference body in a stable state;
    and acquiring the position information of the ultrasonic probe, and determining the position information of the ultrasonic probe as the position information of the reference body, wherein the ultrasonic probe is placed at any position of the reference body in a stable state.
  15. The method according to claim 14, wherein the determining the body orientation information of the target tissue in the reference body coordinate system comprises:
    acquiring the corresponding relation between the human body position information and the position information of the reference body;
    and determining the human body orientation information in the reference body coordinate system according to the corresponding relation.
  16. An ultrasound imaging apparatus, characterized in that the ultrasound imaging apparatus comprises:
    an ultrasonic probe;
    a probe positioning device internally or externally fixed on the ultrasonic probe;
    a transmission/reception selection switch;
    a transmitting/receiving sequence controller, wherein the transmitting/receiving sequence controller excites the ultrasonic probe to transmit ultrasonic waves to target tissues through the transmitting/receiving selection switch and controls the ultrasonic probe to receive ultrasonic echoes returned from the target tissues;
    a processor for performing the steps of:
    determining a reference body coordinate system; carrying out ultrasonic imaging on target tissues through the ultrasonic probe to obtain ultrasonic images of the target tissues, and obtaining azimuth information of the ultrasonic probe through the probe positioning device; determining first orientation information of the target tissue from the ultrasound image; determining tissue position information of the target tissue in the reference body coordinate system according to the first position information and the position information of the ultrasonic probe; determining the human body orientation information of the current target tissue in the reference body coordinate system;
    a display for displaying the tissue orientation information and the human body orientation information in the reference body coordinate system.
  17. The apparatus of claim 16,
    the processor is specifically configured to determine orientation information of a reference body, where the reference body is a human body or a bed where the human body is located, and the orientation information of the reference body represents any orientation information of the reference body in a stable state; and determining the reference body coordinate system according to the orientation information of the reference body.
  18. The apparatus according to claim 16 or 17,
    the processor is further configured to obtain a first mapping relationship and a second mapping relationship before determining tissue location information of the target tissue in the reference body coordinate system according to the first location information and the location information of the ultrasound probe, where the first mapping relationship is a mapping relationship between an ultrasound image coordinate system and a positioning apparatus coordinate system, and the second mapping relationship is a mapping relationship between a world coordinate system and the reference body coordinate system.
  19. The apparatus of claim 18,
    the processor is specifically configured to map the first location information according to the first mapping relationship, and determine second location information of the target tissue in the positioning apparatus coordinate system; determining a third mapping relation according to the position information of the ultrasonic probe, mapping the second position information according to the third mapping relation, and determining third position information of the target tissue in the world coordinate system, wherein the third mapping relation is the mapping relation between the coordinate system of the positioning device and the world coordinate system; and mapping the third orientation information according to the second mapping relation to determine the tissue orientation information.
  20. The apparatus of claim 18,
    the processor is specifically configured to acquire the orientation information of the reference body in the world coordinate system according to the orientation information of the reference body, and determine the second mapping relationship according to the orientation information of the reference body in the world coordinate system.
  21. The apparatus according to any one of claims 18 to 20,
    the processor is further configured to map the position information of the ultrasonic probe according to the second mapping relationship, and determine the position information of the ultrasonic probe in the reference body coordinate system;
    the display is further used for displaying the position information of the ultrasonic probe in the reference body coordinate system.
  22. The apparatus according to any one of claims 16 to 21,
    the display is specifically configured to display the tissue orientation information and the human body orientation information in the reference body coordinate system according to at least one of a color, a shape, and an icon.
  23. The apparatus according to any one of claims 16 to 21,
    the display is specifically configured to display the reference body coordinate system in a multi-dimensional model or Virtual Reality (VR) manner, and display the tissue orientation information and the human body orientation information in the reference body coordinate system.
  24. The apparatus of claim 23,
    the display is specifically configured to highlight the tissue orientation information and the human body orientation information in the reference body coordinate system;
    alternatively, a boundary line between the tissue orientation information and the body orientation information is drawn in the reference body coordinate system as a thick line;
    alternatively, only the tissue orientation information and the human body orientation information may be displayed in the reference body coordinate system, and the other regions other than the tissue orientation information and the human body orientation information may be hidden.
  25. The apparatus of claim 21,
    the display is specifically configured to display the positional information of the ultrasound probe in the reference body coordinate system according to at least one of a color, a shape, and an icon.
  26. The apparatus of claim 25,
    the display is specifically used for displaying the reference body coordinate system in a multi-dimensional model or Virtual Reality (VR) mode and displaying the position information of the ultrasonic probe in the reference body coordinate system in real time.
  27. The apparatus according to any one of claims 16 to 26, wherein the ultrasound image is a two-dimensional ultrasound image, and the processor is configured to determine feature points corresponding to the target tissue in the two-dimensional ultrasound image according to a preset recognition algorithm; and determining the azimuth information corresponding to the feature point as the first azimuth information.
  28. The apparatus according to any of the claims 16 to 26, wherein the ultrasound image comprises a multi-dimensional ultrasound image, and the processor is configured to determine an image region corresponding to the target tissue in the multi-dimensional ultrasound image according to a predetermined recognition algorithm; and determining the azimuth information corresponding to the image area as the first azimuth information.
  29. The apparatus according to any one of claims 17 to 28, wherein the apparatus further comprises an external fit positioning device;
    the processor is used for acquiring the position information of the reference body through the attaching and positioning device, wherein the attaching and positioning device is attached to any position of the reference body in a stable state;
    the processor is further configured to acquire the position information of the ultrasonic probe through the probe positioning device, and determine the position information of the ultrasonic probe as the position information of the reference body, where the ultrasonic probe is placed in any position of the reference body in a stable state.
  30. The apparatus of claim 29,
    the processor is specifically configured to obtain a corresponding relationship between the human body position information and the position information of the reference body; and determining the human body orientation information in the reference body coordinate system according to the corresponding relation.
  31. A computer readable storage medium storing an ultrasound imaging program executable by a processor to implement the ultrasound imaging method of any one of claims 1-15.
CN201880097451.8A 2018-11-08 2018-11-08 Ultrasonic imaging method, ultrasonic imaging equipment and storage medium Pending CN112672692A (en)

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