CN113180608A - Photoacoustic imaging system based on electromagnetic field space positioning - Google Patents
Photoacoustic imaging system based on electromagnetic field space positioning Download PDFInfo
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- CN113180608A CN113180608A CN202110500034.7A CN202110500034A CN113180608A CN 113180608 A CN113180608 A CN 113180608A CN 202110500034 A CN202110500034 A CN 202110500034A CN 113180608 A CN113180608 A CN 113180608A
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- 238000003384 imaging method Methods 0.000 title claims abstract description 89
- 230000005672 electromagnetic field Effects 0.000 title claims abstract description 31
- 238000002604 ultrasonography Methods 0.000 claims description 11
- 230000004807 localization Effects 0.000 claims description 5
- 239000000523 sample Substances 0.000 description 27
- 238000002474 experimental method Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 238000006073 displacement reaction Methods 0.000 description 7
- 238000003325 tomography Methods 0.000 description 5
- 230000003287 optical effect Effects 0.000 description 4
- 238000003491 array Methods 0.000 description 3
- 238000010895 photoacoustic effect Methods 0.000 description 3
- 210000001519 tissue Anatomy 0.000 description 2
- 229920001817 Agar Polymers 0.000 description 1
- 239000008272 agar Substances 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 238000000149 argon plasma sintering Methods 0.000 description 1
- 238000002059 diagnostic imaging Methods 0.000 description 1
- 230000001678 irradiating effect Effects 0.000 description 1
- 230000031700 light absorption Effects 0.000 description 1
- 210000005075 mammary gland Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000012285 ultrasound imaging Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0093—Detecting, measuring or recording by applying one single type of energy and measuring its conversion into another type of energy
- A61B5/0095—Detecting, measuring or recording by applying one single type of energy and measuring its conversion into another type of energy by applying light and detecting acoustic waves, i.e. photoacoustic measurements
Abstract
The invention relates to a photoacoustic imaging system based on electromagnetic field space positioning, which comprises a photoacoustic imaging unit and is characterized in that an ultrasonic transducer moves randomly in space to complete the complete scanning of an imaging target region of interest; the system also comprises a space positioning unit, wherein each time the ultrasonic transducer moves one position, the space positioning unit acquires the position coordinate information of the ultrasonic transducer and sends the position coordinate information to the computer; and after the computer carries out position calibration on each two-dimensional photoacoustic image according to the corresponding position coordinate information, reconstructing the calibrated photoacoustic image into a three-dimensional photoacoustic image. The invention can more flexibly realize photoacoustic imaging at any position and can also realize photoacoustic imaging in any shape without being limited to the shape and the size of the ultrasonic transducer, thereby breaking through the limitation of photoacoustic imaging application in clinic and better realizing the landing application of photoacoustic imaging in clinic.
Description
Technical Field
The invention relates to a photoacoustic imaging system, and belongs to the technical fields of photoacoustic imaging, photoacoustic sensing, space positioning, three-dimensional imaging, photoacoustic pen probing, real-time imaging and intraoperative navigation.
Background
Photoacoustic imaging has unique advantages in that it physically combines the advantages of high optical contrast and high spatial resolution of ultrasound. Photoacoustic imaging based on the photoacoustic effect is a non-invasive biomedical imaging technique, and imaging of organs as small as cells and as large as possible has application in medical imaging. The working principle of the photoacoustic imaging system is to uniformly irradiate a beam of instantaneous pulse parallel light on an imaging object, and generate a PA signal (photoacoustic signal, ultrasonic signal generated by photoacoustic effect) due to thermal expansion caused by absorption of light energy by the target object. In imaging features, on the one hand, the scattering of ultrasound signals by physiological tissue is 2 to 3 orders of magnitude lower than that of light scattering, so that the ultrasound signals are used for image reconstruction in photoacoustic imaging, and can provide higher spatial resolution in deep tissue imaging. On the other hand, photoacoustic imaging combines optical high contrast characteristics and can also provide a variety of functional information compared to ultrasound imaging.
Photoacoustic imaging is based on image reconstruction of photoacoustic signals received by an ultrasound probe. In photoacoustic imaging, photoacoustic microscopic imaging (PAM), photoacoustic tomography (PAT) and photoacoustic endoscopic imaging (PAE) need to determine the position of an ultrasonic probe of a sensor when receiving all paths of photoacoustic signals during image reconstruction, and photoacoustic images can be reconstructed accurately. For example, the photoacoustic microscope determines the position of a corresponding signal according to the horizontal and vertical coordinates of a scanning spot (optical resolution PAM) or an ultrasonic probe (acoustic resolution PAM) to reconstruct an image; in PAT imaging, image reconstruction is determined according to the position distribution of the ultrasonic probe; similarly, PAE also requires knowledge of the position and angle of the ultrasound probe to determine image reconstruction. In the above mentioned systems, the position distribution of the probe is determined according to the physical structure or mechanical movement. The imaging range that can be achieved with the above-mentioned photoacoustic imaging system depends on the probe size and the mechanically defined fixed scan range.
Common three-dimensional photoacoustic tomography is mainly imaging of a fixed area, and the size of the imaging area depends on the size of the ultrasonic probe array or is determined by the mechanical scanning range. For example, common arrays for three-dimensional photoacoustic imaging include hemispherical ultrasound arrays (as shown in fig. 1), cylindrical ultrasound arrays (as shown in fig. 2), and two-dimensional area array ultrasound transducers. The ultrasonic probe can be applied to realize photoacoustic three-dimensional imaging, but the flexibility is low, the imaging range is limited to the size of the probe, the system universality is poor, and the price of a high-density array probe is high. And another photoacoustic three-dimensional imaging system based on mechanical scanning, such as three-dimensional imaging realized by matching a linear array probe with a linear displacement platform, is limited in flexibility by the mechanical displacement platform, as shown in fig. 3.
Disclosure of Invention
The purpose of the invention is: the photoacoustic imaging system with any spatial position, a larger range and more flexibility is realized.
In order to achieve the above object, the technical solution of the present invention is to provide a photoacoustic imaging system based on electromagnetic field spatial localization, which includes a photoacoustic imaging unit, the photoacoustic imaging unit includes a laser source controlled by a computer, the laser source emits laser pulses under the control of the computer, an ultrasonic transducer receives photoacoustic signal laser pulses generated by an imaging target under the irradiation of laser, and the computer receives the photoacoustic signal laser pulses to obtain a two-dimensional photoacoustic image, wherein the ultrasonic transducer moves randomly in space to complete the complete scanning of an area of interest of the imaging target;
the photoacoustic imaging system also comprises a space positioning unit, wherein each time the ultrasonic transducer moves by one position, the space positioning unit acquires the position coordinate information of the ultrasonic transducer and sends the position coordinate information to the computer; when the ultrasonic transducer is at any position, the computer synchronously receives the photoacoustic signal laser pulse obtained by the ultrasonic transducer at the current position and the position coordinate information sent by the space positioning unit, and after the computer receives the photoacoustic signal laser pulse to obtain a two-dimensional photoacoustic image, the computer associates the two-dimensional photoacoustic image with the synchronously received position coordinate information; after the ultrasonic transducer finishes scanning the imaging target region of interest, the computer obtains a plurality of two-dimensional photoacoustic images and position coordinate information associated with each photoacoustic image, and after the computer carries out position calibration on each two-dimensional photoacoustic image according to the corresponding position coordinate information, the computer reconstructs the calibrated photoacoustic image into a three-dimensional photoacoustic image.
Preferably, the ultrasound transducer is freely movable in a handheld manner.
Preferably, the spatial location unit comprises an electromagnetic field emission source, a spatial position sensor and a receiver;
the electromagnetic field emission source is used for generating an electromagnetic field in the space;
the space position sensor is fixed on the ultrasonic transducer and used for sensing electromagnetic field information of different positions in space;
the receiver is connected with the spatial position sensor and used for receiving the electromagnetic field information sensed by the spatial position sensor, converting the electromagnetic field information into the position coordinate information and feeding back the position coordinate information to the computer.
The photoacoustic imaging system disclosed by the invention is used for acquiring the coordinates and direction angles of a sensor (an ultrasonic probe) in space by using space positioning based on an electromagnetic field. And the collected photoacoustic signals realize photoacoustic image reconstruction according to the coordinates corresponding to each sensor. Compared with the traditional photoacoustic system, the photoacoustic imaging system based on electromagnetic field space positioning can more flexibly realize photoacoustic imaging at any position and in any shape without being limited by the shape and the size of an ultrasonic transducer, so that the limitation of photoacoustic imaging application in clinic is broken through, and the floor application of photoacoustic imaging in clinic is better realized.
Drawings
FIG. 1 is a schematic diagram of photoacoustic three-dimensional imaging coordinates based on a hemispherical ultrasonic array;
FIG. 2 is a schematic diagram of three-dimensional photoacoustic imaging coordinates based on circular array columnar scanning;
FIG. 3 is a schematic diagram of three-dimensional photoacoustic imaging coordinates based on linear array of ultrasonic probes in cooperation with mechanical scanning;
FIG. 4 is a schematic diagram of an electromagnetic field spatial location system employed in the present invention;
FIG. 5 is a schematic diagram of a photoacoustic imaging system based on magnetic field spatial localization according to the present invention;
FIG. 6 is a schematic diagram of three-dimensional photoacoustic imaging coordinates of a spatial localization-based ultrasonic probe linear array handheld scan;
FIG. 7 is a photograph of a phantom of a pencil lead, the white dashed box being the imaging scan area;
FIG. 8 shows the photoacoustic three-dimensional reconstruction result based on the linear displacement table scan;
FIG. 9 is a photoacoustic three-dimensional reconstruction XY plane projection diagram based on linear displacement table scanning;
FIG. 10 shows the results of hand-held three-dimensional photoacoustic imaging proposed by the present invention;
FIG. 11 is a hand-held three-dimensional photoacoustic imaging XY projection proposed by the present invention;
FIG. 12 shows photoacoustic two-dimensional tomography result one;
fig. 13 shows a photoacoustic two-dimensional tomographic imaging result two.
Detailed Description
The invention will be further illustrated with reference to the following specific examples. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teaching of the present invention, and such equivalents may fall within the scope of the present invention as defined in the appended claims.
The photoacoustic imaging system based on electromagnetic field space positioning provided by the invention is realized based on the electromagnetic field space positioning system shown in fig. 4. As shown in fig. 3, the electromagnetic field spatial positioning system includes three main parts, an electromagnetic field emission source 1, a spatial position sensor 2, and a receiver 3. The electromagnetic field emission source 1 generates an electromagnetic field in space, the spatial position sensor 2 senses electromagnetic field information of different spatial positions, received signals are processed by the receiver 3 and then fed back to a computer terminal, and a pair of coordinate information is obtained at the computer terminal and reflects the position of the spatial position sensor 2 in space.
Based on the electromagnetic field spatial location system, the photoacoustic imaging system structure based on magnetic field spatial location provided by the present invention is shown in fig. 5, and the photoacoustic imaging portion mainly includes a laser source 7, an ultrasonic transducer (in this embodiment, an ultrasonic probe 4), a data acquisition and pre-amplification module 5, a computer 6, and optical path elements (lenses, optical fibers, etc.). A signal amplifier may be further added to the photoacoustic imaging portion to amplify the photoacoustic signal.
The spatial localization part includes an electromagnetic field emission source 1, a spatial position sensor 2, and a receiver 3. The spatial position sensor 2 is fixed on the ultrasonic transducer to acquire spatial position coordinates when the ultrasonic transducer receives the photoacoustic signal.
The working principle of the invention can be briefly described as the following steps:
And 2, irradiating nanosecond laser pulses onto the imaging sample through a light path element. After the imaging sample is irradiated by laser, a photoacoustic signal is generated due to the photoacoustic effect.
And 3, the ultrasonic probe 4 receives the photoacoustic signal, and meanwhile, the spatial position sensor 2 acquires the current position coordinate information of the ultrasonic probe 4.
And 4, converting the photoacoustic signals received by the ultrasonic probe 4 into digital signals by the data acquisition and preamplification module 5 after passing through the signal amplifier, and transmitting the digital signals to the computer 6. At the same time, the receiver 3 transmits the position coordinate information obtained by the spatial position sensor 2 to the computer 6.
And step 5, the computer 6 obtains a photoacoustic image by combining an image reconstruction algorithm according to the received photoacoustic signals and the position coordinate information, and further obtains a three-dimensional photoacoustic image by combining a three-dimensional reconstruction algorithm.
The image reconstruction algorithm is a conventional algorithm and is not described in detail in the invention. When the ultrasonic probe 4 moves one position, a corresponding photoacoustic image can be obtained by using an image reconstruction algorithm, and meanwhile, the position coordinate information of the ultrasonic probe 4 can also be obtained. The computer 6 associates the photoacoustic image with the position coordinate information. As shown in fig. 6, in the present invention, after the handheld ultrasound probe 4 completes scanning of the imaging region of interest at different positions, a plurality of two-dimensional photoacoustic images can be obtained, and position coordinate information associated with each two-dimensional photoacoustic image can be obtained. And after each two-dimensional photoacoustic image is subjected to position calibration according to the corresponding position coordinate information, reconstructing the calibrated photoacoustic image into a three-dimensional photoacoustic image by using a three-dimensional reconstruction algorithm.
Therefore, the photoacoustic imaging system based on the electromagnetic field space positioning can realize handheld and flexible three-dimensional imaging, can realize a larger-area three-dimensional imaging range compared with the existing three-dimensional photoacoustic imaging system, and is not limited by the shape and the size of the probe. The scheme provided by the invention can be applied to the application scenes of photoacoustic imaging of mammary glands, photoacoustic imaging of neck carotid and the like.
In order to verify the feasibility of the three-dimensional photoacoustic imaging system based on the spatial positioning ultrasonic probe linear array handheld scanning, a photoacoustic imaging experiment of a pencil lead is carried out, and the pencil lead is placed in an agar block and inclined at a certain angle as shown in fig. 7. Experiments compare the photoacoustic tomography three-dimensional imaging based on the mechanical scanning of the linear displacement table with the photoacoustic three-dimensional imaging scheme provided by the patent.
Experiment 1: the linear displacement stage scanned 80 frames of tomographic images (as shown in fig. 12) in a parallel fashion for three-dimensional reconstruction, with a 0.5mm pitch per frame. The reconstruction result is shown in fig. 8, and the distribution of two pencil leads can be clearly distinguished from the imaging result. Fig. 9 shows an XY-plane projection of the three-dimensional reconstruction result.
Experiment 2: in the three-dimensional photoacoustic imaging mode provided by the invention, the imaging part is scanned by using the handheld linear array probe, and meanwhile, the position sensor records the position coordinates of each two-dimensional tomography (as shown in figure 13). In the experiment, 35 frames of two-dimensional tomographic images of the pencil lead are scanned for three-dimensional reconstruction. Before reconstruction, the position of the image is calibrated according to the coordinate position, and then a dimensional three-dimensional result is reconstructed, for example, fig. 10 shows the three-dimensional reconstruction result of the pencil lead, and fig. 11 is a projection of the reconstruction result on an XY plane. From the imaging result, the outline and the distribution condition of the pencil lead can be clearly distinguished, and a more perfect imaging result can be obtained by further calibrating the coordinate.
In the above two experiments, while experiment 1 takes about 800 seconds (due to the mechanical scanning stepping time and the waiting data stabilization time) to complete 80-frame image acquisition by using the displacement platform for mechanical scanning, the experiment 2 scheme provided by the present invention takes about 7 seconds to complete 35-frame image acquisition, the scheme provided by the present invention has about 50 times of the conventional scheme in acquisition efficiency, and the system provided by the present invention greatly improves the flexibility in data acquisition.
Claims (3)
1. A photoacoustic imaging system based on electromagnetic field spatial location comprises a photoacoustic imaging unit, wherein the photoacoustic imaging unit comprises a laser source controlled by a computer, the laser source sends out laser pulses under the control of the computer, an ultrasonic transducer receives photoacoustic signal laser pulses generated by irradiation of an imaging target by laser, and the computer receives the photoacoustic signal laser pulses to obtain a two-dimensional photoacoustic image;
the photoacoustic imaging system also comprises a space positioning unit, wherein each time the ultrasonic transducer moves by one position, the space positioning unit acquires the position coordinate information of the ultrasonic transducer and sends the position coordinate information to the computer; when the ultrasonic transducer is at any position, the computer synchronously receives the photoacoustic signal laser pulse obtained by the ultrasonic transducer at the current position and the position coordinate information sent by the space positioning unit, and after the computer receives the photoacoustic signal laser pulse to obtain a two-dimensional photoacoustic image, the computer associates the two-dimensional photoacoustic image with the synchronously received position coordinate information; after the ultrasonic transducer finishes scanning the imaging target region of interest, the computer obtains a plurality of two-dimensional photoacoustic images and position coordinate information associated with each photoacoustic image, and after the computer carries out position calibration on each two-dimensional photoacoustic image according to the corresponding position coordinate information, the computer reconstructs the calibrated photoacoustic image into a three-dimensional photoacoustic image.
2. A photoacoustic imaging system based on electromagnetic field spatial localization as set forth in claim 1, wherein the ultrasound transducer is freely moved in a handheld manner.
3. The photoacoustic imaging system of claim 1 wherein the spatial location unit comprises an electromagnetic field emission source, a spatial location sensor and a receiver;
the electromagnetic field emission source is used for generating an electromagnetic field in the space;
the space position sensor is fixed on the ultrasonic transducer and used for sensing electromagnetic field information of different positions in space;
the receiver is connected with the spatial position sensor and used for receiving the electromagnetic field information sensed by the spatial position sensor, converting the electromagnetic field information into the position coordinate information and feeding back the position coordinate information to the computer.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114563479A (en) * | 2022-04-20 | 2022-05-31 | 之江实验室 | Real-time three-dimensional high-resolution terahertz photoacoustic imaging method and device |
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