CN113143326A - Forward-looking 3D endoscopic ultrasonic system and imaging method - Google Patents
Forward-looking 3D endoscopic ultrasonic system and imaging method Download PDFInfo
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- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
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Abstract
The invention relates to a forward-looking 3D endoscopic ultrasonic system and an imaging method, the endoscopic ultrasonic system comprises a host, a display, an endoscopic catheter and a communicating vessel, wherein the endoscopic catheter comprises an inner catheter and an outer sleeve which are coaxially and relatively rotatably arranged, the forward-looking 3D endoscopic ultrasonic system also comprises an ultrasonic transducer arranged at the front end of the inner catheter and an end plate arranged at the front end part of the outer sleeve, the working surface of the ultrasonic transducer faces the end plate and is arranged close to the inner wall of the end plate, the end plate is provided with stripes, and a transmission path of ultrasonic waves emitted by the ultrasonic transducer and passing through a stripe area changes along with the change of the stripes and forms phase delay. According to the invention, through the arrangement of the inner guide pipe and the outer sleeve which rotate relatively, the data information of ultrasonic excitation and receiving echo signals is obtained under a plurality of relative rotation angles by matching with the single ultrasonic transducer with the working surface facing to the stripe, so that a 3D image is accurately reconstructed, and the device has a simple structure and low cost.
Description
Technical Field
The invention belongs to the technical field of clinical medical treatment, and particularly relates to a forward-looking 3D endoscopic ultrasonic system and an imaging method of the forward-looking 3D endoscopic ultrasonic system.
Background
As is well known, in vivo ultrasound imaging, which mainly includes intravascular ultrasound imaging, digestive ultrasound endoscopy, ultrasound bronchoscopy, etc., has become an important tool for diagnosis and auxiliary minimally invasive treatment of cardiovascular diseases, digestive and respiratory diseases. The 3D imaging can show the structure of the tissue more three-dimensionally, can provide more visual and intuitive information for the situation of vascular stenosis, plaque distribution, tumor lesion volume, infiltration range, and the like, and becomes a trend of related product development in recent years.
However, at present, there are two main approaches for in vivo ultrasound 3D imaging: one is mechanical retraction type 3D imaging, and most of the 3D imaging is mechanical rotation retraction of a single-array-element probe to form a 3D image, for example, intravascular ultrasound and high-frequency ultrasound endoscopes mostly adopt the scheme, if the probe is a ring array or linear array probe, rotation is not needed, but retraction or mechanical swinging is needed to form the 3D image; the other is electronic scanning 3D imaging, which needs an area array or matrix probe.
Therefore, regardless of which scheme is employed for 3D imaging, the following disadvantages exist:
1) aiming at the parts needing mechanical retraction, the 3D imaging cannot be carried out in real time, only a side-looking image can be formed, and a front-looking image cannot be formed;
2) the mode to electronic scanning, it needs the area array probe, and its size is difficult to do for a short time, and the price is very high moreover, and internal ultrasonic imaging is subject to the isovolumetric restriction of blood vessel, alimentary canal, bronchus, and mostly disposable consumptive material, makes it hardly popularize and apply.
However, forward looking 3D images have a clinically urgent need, such as Chronic Total Occlusion (CTO) of the coronary arteries, or inability of the imaging catheter to be threaded in the presence of an intraluminal thrombus, and thus inability to image and diagnose treatment. Meanwhile, in vitro diagnostic methods such as CT cannot evaluate the specific severity because angiography cannot be performed after occlusion.
Disclosure of Invention
The technical problem to be solved by the invention is to overcome the defects of the prior art and provide a forward looking 3D endoscopic ultrasound system.
Meanwhile, the invention also relates to an imaging method of the forward-looking 3D endoscopic ultrasonic system.
In order to solve the technical problems, the invention adopts the following technical scheme:
a forward-looking 3D endoscopic ultrasonic system comprises a host machine, a display, an endoscopic catheter and a communicating vessel used for connecting the host machine with the endoscopic catheter, wherein the endoscopic catheter comprises an inner catheter and an outer sleeve which are coaxially and relatively rotatably arranged, the forward-looking 3D endoscopic ultrasonic system further comprises an ultrasonic transducer arranged at the front end of the inner catheter and an end plate arranged at the front end part of the outer sleeve, the working surface of the ultrasonic transducer faces the end plate and is arranged close to the inner wall of the end plate, stripes are formed on the end plate, and the transmission path of ultrasonic waves emitted by the ultrasonic transducer passing through the stripe area changes along with the change of the stripes and forms phase delay.
Preferably, the ultrasonic transducer is fixed at the front end of the inner catheter and is arranged in parallel with the end plate.
Preferably, the working frequency range of the ultrasonic transducer is 1-60 MHz, and the diameter is less than 3 mm.
Specifically, the ultrasonic transducer is a piezoelectric ceramic, piezoelectric single crystal, piezoelectric composite or micro-capacitive sensor, and the sensor can transmit and receive ultrasonic waves.
According to a specific embodiment and preferred aspect of the present invention, a rotation handle is further provided at the rear end of the outer sleeve. After the outer sleeve and the striped end plate rotate to an angle position along with the rotation of the rotating handle, the relative orientation of the stripes to the transducer is changed, and echo signals are excited and received by ultrasonic waves of the ultrasonic transducer; and then, rotating the rotating handle to the next angle position to change the relative position of the fringe plate relative to the transducer again, exciting and receiving echo signals by ultrasonic waves of the ultrasonic transducer, and repeating the steps until the rotating handle rotates by N angles to complete ultrasonic excitation and signal receiving echo signals in a rotating period, so that a 3D image in the front view direction of the probe is reconstructed according to N groups of data information at N angles.
Meanwhile, in order to improve the imaging speed, the rotating handle and the motor can be fixedly connected through the angular rotation of the imaging device, and the imaging device is realized through the rotation control of the motor.
According to a further embodiment and preferred aspect of the present invention, the stripes in the stripe regions have different acoustic impedances, mainly stripes, and may be printed, ink-jetted, vapor-deposited, or bonded with materials (e.g., fuel, paint, ink, metal, plastic, rubber, ceramic, silicon, etc.) having different thicknesses; or template structures with different thicknesses formed by the same material or mixed material through laser etching and casting. The acoustic impedance of the material is different from that of the periphery of the transducer and the catheter and working environment media (such as blood in blood vessels, mucus in the stomach and trachea, physiological saline and the like), so that accurate data information can be acquired under the angle corresponding to each rotating handle, and a 3D image can be accurately reconstructed.
Furthermore, a through hole which is used for communicating the inner cavity of the external sleeve with the outside from the front end part is also arranged on the end plate. Thus, the end plate can be used as a stripe structure on one hand, and on the other hand, the operation of water injection and the like of the conduit from the through hole can be facilitated.
In addition, for the convenience of subsequent clinical operation, the top area of the external sleeve of the catheter is provided with a certain metal marker, so that the position of the front end of the catheter can be conveniently observed and positioned in real time under CT and X-ray images. Also, if used in an intravascular setting, the catheter is small in size and inconvenient to deliver. Certain annular or perforation structures can be designed on the external sleeve, so that the catheter can quickly reach a diagnosis area along an interventional guide wire during operation. The digestive tract or bronchi with larger space do not need the guide wire guiding structure.
Preferably, a coaxial cable is arranged in the inner conduit, and the ultrasonic transducer is communicated with the host machine through the coaxial cable. Not only is the built-in beautiful, but also is more beneficial to the transmission of data.
The other technical scheme of the invention is as follows: an imaging method of a forward-looking 3D endoscopic ultrasound system adopts the forward-looking 3D endoscopic ultrasound system, and comprises the following steps:
1) firstly, utilizing the hydrophone to carry out sound field test and calibration of a forward-looking 3D endoscopic ultrasonic systemThe hydrophone which is arranged behind the striped end plate of the body is opposite to the ultrasonic transducer in an excitation state, and the distance between the hydrophone and the forward-looking 3D endoscopic ultrasonic system is z0Recording the sound field intensity p of each position of the section0(x,y,z0T), calculating the sound field intensity of each position in the rear sound field space by using the angular spectrum theory:
wherein, F3D{ } and
is a fourier transform and an inverse transform of a three-dimensional space,
sgn (f) is a sign-taking operation;
2) convolving the obtained sound field intensity with the impulse response h (t) of the hydrophone according to the scattering submodel and the sound field linear propagation theory to obtain the impulse echo signal corresponding to each position of the sound field space:
the obtained pulse echo signals form a single space measurement matrix
Rotating the striped plate, changing sound field distribution, repeating the above process to obtain multiple single space measurement matrixes
Combining all matrices into an integrated spatial measurement matrix:
3) selecting a proper sparse matrix psi according to a compressed sensing theory to obtain a spatial sensing matrix
H＝ΦΨ (4)
Then, a 3D imaging device is used to obtain the echo signal of the target to be measured, and the specific operation is as described above, so as to obtain the measurement signals r at N anglesj(j ═ 1, 2.., N), constitutes the observation signal
4) Substituting the observation signal and the perception matrix into a signal reconstruction equation R (Hx), selecting a proper compressed sensing reconstruction algorithm to solve the reconstruction equation, and reconstructing an original signal:
u＝Hv (5)
wherein
Sum θ is the reconstructed and original sparse signal, θ ═ Ψ v, | | | | | | luminance1(| | | purple hair)2Is a 1 norm and a 2 norm, and epsilon is the defined acceptable reconstruction error magnitude;
5) and mapping the original signal and the spatial pixel distribution by utilizing a linear inversion method according to a reciprocity theorem to obtain the 3D ultrasonic image.
Due to the implementation of the technical scheme, compared with the prior art, the invention has the following advantages:
according to the invention, through the arrangement of the inner guide pipe and the outer sleeve which rotate relatively, the data information of ultrasonic excitation and receiving echo signals is obtained under a plurality of relative rotation angles by matching with the single ultrasonic transducer with the working surface facing to the stripe, so that a 3D image is accurately reconstructed, and the device has a simple structure and low cost.
Drawings
FIG. 1 is a front view schematic illustration of a forward-looking 3D endoscopic ultrasound system of the present invention;
FIG. 2 is an enlarged partial schematic view of FIG. 1;
wherein: 1. a host; 2. a display; 3. an endoscopic catheter; 30. an inner conduit; 31. an outer sleeve; 4. a communicating vessel; 5. an ultrasonic transducer; 6. an end plate; 60. stripes; 61. a through hole; 7. a handle is rotated.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise explicitly specified or limited, a first feature "on" or "under" a second feature may be directly contacted with the first and second features, or indirectly contacted with the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.
As shown in fig. 1, the forward-looking 3D endoscopic ultrasound system according to the present embodiment includes a main unit 1, a display 2, an endoscopic catheter 3, and a communicating vessel 4 for connecting the main unit 1 and the endoscopic catheter 3.
Specifically, the endoscopic catheter 3 comprises an inner catheter 30 and an outer sleeve 31 which are coaxially and relatively rotatably arranged, the forward looking 3D endoscopic ultrasound system further comprises an ultrasound transducer 5 arranged at the front end of the inner catheter 30 and an end plate 6 arranged at the front end of the outer sleeve 31, wherein a coaxial cable is arranged in the inner catheter 30, and the ultrasound transducer 5 is communicated with the host 1 through the coaxial cable. Not only is the built-in beautiful, but also is more beneficial to the transmission of data.
As shown in fig. 2, the working surface of the ultrasonic transducer 5 faces the end plate 6 and is disposed close to the inner wall of the end plate 6.
In this example, the ultrasonic transducer 5 is fixed to the front end of the inner catheter 30 and is disposed in parallel with the end plate 6.
Specifically, the working frequency range of the ultrasonic transducer 5 is 1-60 MHz, and the diameter is less than 3 mm.
Meanwhile, the ultrasonic transducer is a piezoelectric ceramic, piezoelectric single crystal, piezoelectric composite or micro-capacitive sensor, and the sensor can transmit and receive ultrasonic waves.
In this example, the end plate 6 is formed with stripes 60, and the transmission path of the ultrasonic waves emitted from the ultrasonic transducer 5 through the stripe region changes with the stripes, and a phase delay is formed.
The strips in the strip area have different acoustic impedances, mainly comprise strips, and can be formed by printing, ink-jetting, evaporating and bonding materials (such as fuel, paint, ink, metal, plastic, rubber, ceramic, silicon and the like) with different thicknesses; or template structures with different thicknesses formed by the same material or mixed material through laser etching and casting. The acoustic impedance of the material is different from that of the periphery of the transducer and the catheter and working environment media (such as blood in blood vessels, mucus in the stomach and trachea, physiological saline and the like), so that accurate data information can be acquired under the angle corresponding to each rotating handle, and a 3D image can be accurately reconstructed.
The end plate 6 is further provided with a through hole 61 for communicating the inner cavity of the outer sleeve 31 from the front end portion to the outside. Thus, the end plate 6 can be formed in a stripe structure, and the operation of injecting water from the through hole 61 into the pipe can be facilitated.
In this example, in order to change the transmission path in the fringe region of the outer sleeve 31 and the end plate 6, a rotation handle 7 is further provided at the rear end of the outer sleeve 31.
Here, by rotating the rotary handle 7, after the outer sleeve 31 and the striped end plate 6 are rotated to an angular position, at which time the relative orientation of the stripes with respect to the transducer has changed, the ultrasonic waves of the ultrasonic transducer excite and receive echo signals; and then, rotating the rotating handle to the next angle position to change the relative position of the fringe plate relative to the transducer again, exciting and receiving echo signals by ultrasonic waves of the ultrasonic transducer, and repeating the steps until the rotating handle rotates by N angles to complete ultrasonic excitation and signal receiving echo signals in a rotating period, so that a 3D image in the front view direction of the probe is reconstructed according to N groups of data information at N angles.
Meanwhile, in order to improve the imaging speed, the rotating handle and the motor can be fixedly connected through the angular rotation of the imaging device, and the imaging device is realized through the rotation control of the motor.
In summary, the imaging method of the forward looking 3D endoscopic ultrasound system of the present embodiment includes the following steps:
1) firstly, testing and calibrating a sound field of a forward-looking 3D endoscopic ultrasonic system by using a hydrophone, specifically, the hydrophone arranged behind a striped end plate is over against an ultrasonic transducer in an excitation state, and the distance between the hydrophone and the forward-looking 3D endoscopic ultrasonic system is z0Recording the sound field intensity p of each position of the section0(x,y,z0T), calculating the sound field intensity of each position in the rear sound field space by using the angular spectrum theory:
wherein, F3D{ } and
is a fourier transform and an inverse transform of a three-dimensional space,
sgn (f) is a sign-taking operation;
2) convolving the obtained sound field intensity with the impulse response h (t) of the hydrophone according to the scattering submodel and the sound field linear propagation theory to obtain the impulse echo signal corresponding to each position of the sound field space:
the obtained pulse echo signals form a single space measurement matrix
Rotating the striped plate, changing sound field distribution, repeating the above process to obtain multiple single space measurement matrixes
Combining all matrices into an integrated spatial measurement matrix:
3) selecting a proper sparse matrix psi according to a compressed sensing theory to obtain a spatial sensing matrix
H＝ΦΨ (4)
Then, a 3D imaging device is used to obtain the echo signal of the target to be measured, and the specific operation is as described above, so as to obtain the measurement signals r at N anglesj(j ═ 1, 2.., N), constitutes the observation signal
4) Substituting the observation signal and the perception matrix into a signal reconstruction equation R (Hx), selecting a proper compressed sensing reconstruction algorithm to solve the reconstruction equation, and reconstructing an original signal:
u＝Hv (5)
wherein
Sum θ is the reconstructed and original sparse signal, θ ═ Ψ v, | | | | | | luminance1(| | | purple hair)2Is a 1 norm and a 2 norm, and epsilon is the defined acceptable reconstruction error magnitude;
5) and mapping the original signal and the spatial pixel distribution by utilizing a linear inversion method according to a reciprocity theorem to obtain the 3D ultrasonic image.
Therefore, the present embodiment has the following advantages:
1) the data information of ultrasonic excitation and receiving echo signals is acquired under a plurality of relative rotation angles by arranging the inner guide pipe and the outer sleeve which rotate relatively and matching with the single ultrasonic transducer with the working surface facing to the stripes, so that a 3D image is accurately reconstructed, and the structure is simple and the cost is low;
2) the end plate can be used as a stripe structure on one hand, and can also be convenient for the conduit to carry out operations such as water injection and the like from the through hole on the other hand;
3) the top area of the external sleeve of the catheter is provided with a certain metal marker, so that the position of the front end of the catheter can be conveniently observed and positioned in real time under CT and X-ray images;
4) if the catheter is used in an intravascular scene, the catheter has small size, and when delivery is inconvenient, a certain annular or perforated structure can be designed on the outer sleeve, so that the catheter can quickly reach a diagnosis area along an interventional guide wire during operation conveniently, and the digestive tract or the bronchus with larger space does not need the guide wire guide structure.
The present invention has been described in detail in order to enable those skilled in the art to understand the invention and to practice it, and it is not intended to limit the scope of the invention, and all equivalent changes and modifications made according to the spirit of the present invention should be covered by the present invention.
Claims (10)
1. A forward looking 3D endoscopic ultrasound system comprising a host, a display, an endoscopic catheter, and a communicator for connecting the host with the endoscopic catheter, characterized by: the endoscopic catheter comprises an inner catheter and an outer sleeve which are coaxially and relatively rotatably arranged, the forward-looking 3D endoscopic ultrasonic system further comprises an ultrasonic transducer arranged at the front end of the inner catheter, and an end plate arranged at the front end of the outer sleeve, wherein the working surface of the ultrasonic transducer faces the end plate and is arranged close to the inner wall of the end plate, the end plate is provided with stripes, and the transmission path of ultrasonic waves emitted by the ultrasonic transducer passing through the stripe area changes along with the change of the stripes and forms phase delay.
2. The forward-looking 3D endoscopic ultrasound system according to claim 1, wherein: the ultrasonic transducer is fixed at the front end of the inner conduit and is arranged in parallel with the end plate.
3. The forward-looking 3D endoscopic ultrasound system according to claim 1 or 2, wherein: the working frequency range of the ultrasonic transducer is 1-60 MHz, and the diameter of the ultrasonic transducer is less than 3 mm.
4. The forward-looking 3D endoscopic ultrasound system according to claim 3, wherein: the ultrasonic transducer is a piezoelectric ceramic, piezoelectric single crystal, piezoelectric composite or micro-capacitive sensor, wherein the sensor can transmit and receive ultrasonic waves.
5. The forward-looking 3D endoscopic ultrasound system according to claim 1, wherein: the rear end of the outer sleeve is also provided with a rotating handle.
6. The forward-looking 3D endoscopic ultrasound system according to claim 1, wherein: the acoustic impedance formed by the fringes in the fringe region is different.
7. The forward-looking 3D endoscopic ultrasound system according to claim 6, wherein: the stripe printing, ink jetting, vapor deposition, bonding, laser etching and casting are formed on the end plate.
8. The forward-looking 3D endoscopic ultrasound system according to claim 7, wherein: the end plate is also provided with a through hole which communicates the inner cavity of the external sleeve with the outside from the front end part.
9. The forward-looking 3D endoscopic ultrasound system according to claim 1, wherein: and a metal marker is arranged at the front end part of the outer sleeve.
10. A method of imaging a forward looking 3D endoscopic ultrasound system employing a forward looking 3D endoscopic ultrasound system according to any one of claims 1 to 9, comprising the steps of:
1) firstly, testing and calibrating a sound field of a forward-looking 3D endoscopic ultrasonic system by using a hydrophone, specifically, the hydrophone arranged behind a striped end plate is over against an ultrasonic transducer in an excitation state, and the distance between the hydrophone and the forward-looking 3D endoscopic ultrasonic system is z0Recording the sound field intensity p of each position of the section0(x,y,z0T), calculating the sound field intensity of each position in the rear sound field space by using the angular spectrum theory:
wherein, F3D{ } and
is a fourier transform and an inverse transform of a three-dimensional space,
sgn (f) is a sign-taking operation;
2) convolving the obtained sound field intensity with the impulse response h (t) of the hydrophone according to the scattering submodel and the sound field linear propagation theory to obtain the impulse echo signal corresponding to each position of the sound field space:
the obtained pulse echo signals form a single space measurement matrix
Rotating the striped plate, changing sound field distribution, repeating the above process to obtain multiple single space measurement matrixes
Combining all matrices into an integrated spatial measurement matrix:
3) selecting a proper sparse matrix psi according to a compressed sensing theory to obtain a spatial sensing matrix
H＝ΦΨ (4)
Then, a 3D imaging device is used to obtain the echo signal of the target to be measured, and the specific operation is as described above, so as to obtain the measurement signals r at N anglesj(j ═ 1,2,2, N), constitutes the observed signal
4) Substituting the observation signal and the perception matrix into a signal reconstruction equation R (Hx), selecting a proper compressed sensing reconstruction algorithm to solve the reconstruction equation, and reconstructing an original signal:
u＝Hv (5)
wherein
Sum θ is the reconstructed and original sparse signal, θ ═ Ψ v, | | | | | | luminance1(| | | purple hair)2Is a 1 norm and a 2 norm, and epsilon is the defined acceptable reconstruction error magnitude;
5) and mapping the original signal and the spatial pixel distribution by utilizing a linear inversion method according to a reciprocity theorem to obtain the 3D ultrasonic image.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110308475.7A CN113143326B (en) | 2021-03-23 | 2021-03-23 | Forward-looking 3D endoscopic ultrasonic system and imaging method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110308475.7A CN113143326B (en) | 2021-03-23 | 2021-03-23 | Forward-looking 3D endoscopic ultrasonic system and imaging method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
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