CN113633314A - Ultrasonic multi-plane wave composite image synthesis method and system based on GPU parallel computing acceleration - Google Patents
Ultrasonic multi-plane wave composite image synthesis method and system based on GPU parallel computing acceleration Download PDFInfo
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Abstract
The invention discloses an image synthesis method for accelerating ultrasonic multi-plane wave imaging by using GPU parallel computation, which comprises the following steps: s1, setting different emission delays of all transducer units of the ultrasonic probe, and sequentially emitting ultrasonic plane waves with different emission angles to scan an imaging space; s2, reflecting the transmitted ultrasonic signals back to the ultrasonic probe, receiving the ultrasonic echo signals by each transducer unit, and converting the ultrasonic echo signals into Radio Frequency (RF) signals after a series of filtering, sampling, gain and other processing in the analog front end; s3, generating a composite image by using the radio frequency signal through the following post-processing steps; vectorizing the radio frequency signals collected by all channels by using a CPU; performing Hilbert transformation accelerated by GPU parallel computing on the radio frequency signals by using a GPU, and realizing composite image synthesis by using a DAS algorithm accelerated by GPU parallel computing; and S4, displaying the synthesized composite image on a display device. The ultrasonic ultra-fast imaging post-processing algorithm has good parallel computing applicability, and can be used for image reconstruction by using high-performance computing platforms such as a GPU (graphics processing unit) and the like so as to improve the computing efficiency of image reconstruction.
Description
Technical Field
The invention relates to the technical field of ultrasonic imaging, in particular to an ultrasonic multi-plane wave composite image synthesis method based on GPU parallel computing acceleration.
Background
In medical ultrasonic imaging, by sequentially emitting and receiving a plurality of unfocused spatial plane waves at different angles, a focus and a tissue structure to be imaged are scanned, and ultra-fast ultrasonic imaging (frame rate >1000fps) can be clinically realized, and the technology is currently often applied to cardiovascular imaging such as cardiac structure, valve structure, blood flow imaging and the like.
The ultrasound imaging commonly used in clinic is two-dimensional imaging (i.e. area imaging) by using an ultrasound probe such as a linear array, a circular array, etc., or three-dimensional imaging (i.e. volume imaging) by using an ultrasound probe such as a two-dimensional area array, a 1.5D probe, etc. There are generally two ways to scan and image the imaging space using these probes, namely dynamic sub-aperture synthesis and multi-plane wave complex imaging (i.e. ultra-fast ultrasound imaging), the dynamic sub-aperture synthesis method is slow in physical imaging and low in data throughput, and the multi-plane wave complex physical imaging is fast but large in data volume and therefore slow in computation.
The ultra-fast ultrasonic imaging scans an imaging space by sequentially emitting N non-aggregated plane waves with different emission angles. When the ultrasonic wave is transmitted at a certain specific transmitting angle, the time Delay of different transducer units is different, and a low-resolution image can be obtained through a DAS algorithm (Delay and Sum); and carrying out composite addition on the obtained N low-resolution images to obtain the high-resolution ultrasonic B-mode image. The method has high scanning and receiving speed and great scientific research and clinical value, but has great data volume, slow calculation, high-performance calculation for accelerating image reconstruction and great clinical significance.
Ultra-fast imaging generally uses all transducer units to perform ultrasonic signal excitation and ultrasonic signal acquisition, the acquired data volume is huge, the existing ultrasonic ultra-fast imaging post-processing method is generally based on an FPGA (Field Programmable Gate Array) or a CPU (central processing unit), and the data throughput and the computing capacity of the FPGA are limited. With the development of ultrasonic imaging technology and the further increase of the number of transducer units, the common FPGA or CPU has been difficult to meet the calculation requirements of real-time image reconstruction.
Disclosure of Invention
In order to improve the image reconstruction speed and the calculation efficiency of the ultrasonic ultra-fast imaging of the multi-plane wave compounding, the invention aims to provide an ultrasonic multi-plane wave compounding image synthesis method which uses parallel calculation to accelerate the multi-plane wave compounding and provides a GPU (graphic processing unit) parallel calculation to accelerate.
The invention is realized by the following technical scheme.
The technical scheme of the invention is an ultrasonic multi-plane wave composite image synthesis method for accelerating GPU parallel computation, which comprises the following steps:
s1, sequentially adopting different channels to transmit time delay to different transducer units of the ultrasonic probe, and transmitting ultrasonic signals of non-aggregated ultrasonic plane waves to an imaging space region at different transmitting angles;
s2, transmitting the ultrasonic wave in the tissue and reflecting the ultrasonic wave back to the ultrasonic probe, and obtaining a radio frequency signal through a series of analog-to-digital conversion, filtering and gain;
s3, generating a composite image by using the radio frequency signal through the following post-processing steps;
vectorizing the radio frequency signals obtained by all the transducer channels by using a CPU (central processing unit) and transmitting the radio frequency signals to the CPU;
performing Hilbert transform accelerated by GPU parallel computation on the vector-quantized radio-frequency signals by using a GPU, and realizing composite image synthesis by using a DAS algorithm accelerated by GPU parallel computation;
s4, the composite image after the synthesis is transferred back to the CPU and displayed on the display device.
Compared with the prior art, the computation efficiency of high-performance parallel computation based on the GPU is shortened by hundreds or even thousands of times compared with the running time of the CPU, the ultrasonic ultra-fast imaging post-processing algorithm has good parallel computation applicability, and high-performance computing platforms such as the GPU can be used for image reconstruction to improve the computation efficiency.
In one embodiment of this solution, in step S1, the transducer unit emits ultrasonic waves in a plane wave manner, the emitted ultrasonic waves being unfocused plane ultrasonic waves having different emission angles.
In one embodiment of this embodiment, the "processing the ultrasonic wave transmission signal and the received ultrasonic wave reception signal using the CPU to obtain the radio frequency signal" in step S2 includes:
and respectively filtering, sampling, time gain compensation and analog-to-digital conversion processing echo signals of all channels acquired by the ultrasonic simulation front-end system to obtain radio frequency signals, and transmitting the radio frequency signals to the CPU.
In an embodiment of this embodiment, in step 3, the hilbert transform for performing GPU parallel computation acceleration on the rf signal by using the GPU includes:
performing discrete Fourier transform on the opposite-quantization radio frequency signal to obtain a complex signal F;
carrying out different phase shifts on different sampling points in the complex signal F to obtain a real signal P;
performing inverse discrete Fourier transform on the phase-shifted real signal to obtain a complex signal I;
further, when different phase shifts are performed on different sampling points in the reset signal F, and when the number NS of the sampling points is an even number, the formula (1) is followed; when odd, then according to equation (2)), where i is in imaginary units:
and performing GPU-accelerated inverse discrete Fourier transform on the phase-shifted real signal P to obtain a complex signal I, wherein the complex signal obtained by Hilbert transform is S ═ R + I × (I), and abs represents a modulus of the complex number.
In an embodiment of this embodiment, in step 3, the DAS algorithm with GPU parallel computation acceleration performs composite image synthesis including:
carrying out interpolation and time delay on a complex signal S obtained after Hilbert transformation according to the total time delay of the voxel point in each channel, and adding interpolation results on all channels to obtain a corresponding low-resolution complex image; and carrying out complex addition on the plurality of low-resolution complex images to obtain high-resolution complex images, wherein the complex modulus of the complex images is the finally synthesized B-mode image.
Further, the interpolation and the delay addition are performed on the complex signal obtained after the hilbert transform to obtain a corresponding complex image with low resolution, and the method includes:
calculating emission delay according to a plane wave emission angle, calculating receiving delay corresponding to the channel of the ultrasonic transducer according to the spatial relative positions of the voxel points and the ultrasonic transducers of the channels, wherein the total delay is the sum of the emission delay and the receiving delay, and a total delay value is obtained by each channel corresponding to each voxel point;
according to the total delay on each ultrasonic receiving channel corresponding to each voxel point, performing interpolation calculation on the complex signal S corresponding to the channel, and adding the complex values acquired by the voxel point on all channels to obtain a low-resolution complex image of the voxel point;
and respectively calculating the plurality of emission angles, wherein each time the emission angles are different, repeating the steps to obtain a plurality of low-resolution complex images.
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The foregoing and other objects, features and advantages of the application will be apparent from the following more particular descriptions of exemplary embodiments of the application, as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the application.
Fig. 1 is a flow chart of GPU parallel computation accelerated ultrasound image synthesis in an embodiment.
Detailed Description
Preferred embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While the preferred embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The embodiment is an ultrasonic multi-plane wave composite image synthesis method for accelerating GPU parallel computing, which comprises the following steps:
s1, sequentially transmitting non-aggregated plane waves with different transmitting angles to an imaging space region by controlling transmitting time delay of each transducer of the ultrasonic probe;
s2, transmitting and reflecting the ultrasonic signals in the tissues to the ultrasonic probe, and performing a series of operations such as filtering, gain, analog-to-digital conversion and the like on the received echo signals in the analog front end to obtain radio frequency signals;
s3, generating a composite image by using the radio frequency signal through the following post-processing steps;
vectorizing the radio-frequency signals received by each transducer channel by using a CPU (central processing unit);
performing Hilbert transform accelerated by GPU parallel computation on the vector-quantized radio-frequency signals by using a GPU, and realizing composite image synthesis by using a DAS algorithm accelerated by GPU parallel computation;
and S4, displaying the synthesized composite image on a display device.
Referring to fig. 1, the detailed implementation process of the present embodiment is as follows:
assuming that there are N ultrasound emission angles and NC ultrasound transducer channels, taking a three-dimensional imaging mode of a two-dimensional area array or a 1.5D ultrasound probe as an example, the imaging space region has NX × NY × NZ voxel points in total, and in addition, if a two-dimensional imaging mode such as a linear array, a circular array, etc., the imaging space region has NX × NZ voxel points.
And transmitting at the kth ultrasonic transmitting angle, controlling the transmitting time delay of each transducer, respectively performing a series of filtering, time gain compensation and analog-to-digital conversion processing operations on the ultrasonic signals of each channel acquired by the ultrasonic analog front-end system to obtain radio frequency signals, recording the radio frequency signals as RF signals, and transmitting the RF signals into a CPU (central processing unit) of the transducer module through data interfaces such as PCI-e (peripheral component interconnect-express) and the like.
Setting the total sampling number of each channel as NS, vectorizing the RF signals collected by NC channels on a CPU to obtain a one-dimensional vector of NS NC, and transmitting the one-dimensional vector to a GPU;
performing rapid Hilbert transform on the vector on a GPU for GPU parallel computation acceleration, wherein the number of parallel threads is NS NC, and the Hilbert transform on the GPU comprises the following three steps:
firstly, performing GPU accelerated discrete Fourier transform on a vector quantized RF signal to obtain a complex signal F;
and secondly, performing different phase shifts on different sampling points in the F (according to a formula (1) if NS is even number, or according to a formula (2) if NS is odd number), wherein i is an imaginary unit:
and thirdly, performing GPU-accelerated inverse discrete Fourier transform on the phase-shifted real signal P to obtain a complex signal I, wherein the complex signal obtained by Hilbert transform is S ═ R + I × (I), and abs represents the modulus of the complex number.
DAS (delay And Sum) image synthesis with GPU parallel computing acceleration is carried out. In this embodiment, taking ultrasound three-dimensional volume imaging as an example, the imaging space has NX × NY × NZ voxel points in total, and each voxel point is parallelized, so that there are NX × XY × NZ threads in total, and for each thread, the following calculation is performed:
in the first step, the transmit and receive delays of the voxel point are calculated.
Calculating the emission delay according to the emission angle of the current plane wave; calculating receiving delay according to the space relative position of each channel of the voxel point and the ultrasonic transducer, wherein the total delay is the sum of transmitting delay and receiving delay, and a total delay value is obtained by each channel (NC channels in total) corresponding to each voxel point;
and secondly, interpolating.
And performing linear interpolation on the complex signal S corresponding to each channel according to the total delay on each channel corresponding to each voxel point. Each thread adds the values obtained on the NC channels to obtain a low-resolution complex image corresponding to the voxel point;
and thirdly, synthesizing images.
Respectively calculating N different emission angles, taking the current emission angle for each calculation, performing the first step and the second step to obtain N low-resolution complex images, adding all the low-resolution complex images to obtain a high-resolution complex image, and taking the final image as a complex modulus of the complex image.
And transmitting the synthesized final B-mode image back to the CPU from the GPU, and performing user side operation such as image output and display on a display device.
The present embodiment is verified by using a 1024 ultrasonic area array probe, the running time of the present embodiment is shortened by hundreds or even thousands of times compared to that of a CPU, the NVIDIA 3090ti GPU-based test time of ultrasonic image reconstruction using 1024 area arrays and 30 plane waves is about 0.6 seconds, while the time is about 40 minutes on the CPU, and the CPU and the GPU calculate results are consistent. The results are proved to be feasible through algorithm verification and calculation and comparison on different platforms.
Having described embodiments of the present application, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (8)
1. A GPU parallel computation accelerated ultrasonic multi-plane wave composite image synthesis method is characterized by comprising the following steps:
s1, transmitting delay is adopted for different channels of each transducer unit of the ultrasonic probe, so that non-focused ultrasonic plane waves are transmitted at different transmitting angles to scan an imaging space;
s2, the ultrasonic signals are transmitted and reflected in the tissue, and after the ultrasonic probe receives the echo signals, the ultrasonic probe obtains radio frequency signals after being processed in the analog front end;
s3, generating a composite image by using the radio frequency signal through the following post-processing steps;
vectorizing radio frequency signals obtained by each transducer channel on the ultrasonic probe by using a CPU (central processing unit), and transmitting data to a GPU (graphics processing unit);
performing Hilbert transform for GPU parallel computation acceleration on the vector-quantized radio-frequency signals by using a GPU and a DAS (data-based acquisition) algorithm for GPU parallel computation acceleration to realize composite image synthesis;
s4, the synthesized composite image is transmitted back to the CPU and displayed on the display device.
2. The method for synthesizing an ultrasound multi-plane wave composite image with accelerated GPU parallel computing according to claim 1, wherein in step S1, the transducer unit sequentially transmits unfocused ultrasound plane waves at different transmission angles by controlling the transmission delay of different transducer channels, and scans the imaging space.
3. The method for synthesizing an ultrasonic multi-plane wave composite image with parallel computation and acceleration of a GPU according to claim 1, characterized in that in step S2, "ultrasonic signals are propagated and reflected in tissues, and after the ultrasonic probe receives echo signals, radio frequency signals are obtained after processing; "comprises:
and respectively filtering, sampling, time gain compensation and analog-to-digital conversion processing echo signals of all channels acquired by the ultrasonic simulation front-end system to obtain radio frequency signals, and transmitting the radio frequency signals to the CPU.
4. A method for synthesizing an ultrasound multi-plane wave composite image with accelerated GPU parallel computing according to claim 3, wherein in step 3, the hilbert transform for performing GPU parallel computing acceleration on the vector-quantized rf signals by using the GPU comprises:
vectorizing the radio frequency signals obtained by all channels on a CPU and transmitting the radio frequency signals to a GPU;
performing discrete Fourier transform on the opposite-quantization radio frequency signal to obtain a complex signal F;
carrying out different phase shifts on different sampling points in the complex signal F to obtain a real signal P;
and performing inverse discrete Fourier transform on the phase-shifted real signal to obtain a complex signal I.
5. The method for synthesizing an ultrasonic multi-plane wave composite image with accelerated parallel computation of a GPU according to claim 4, wherein when different phase shifts are performed on different sampling points in a reset signal F, when the number NS of the sampling points is even, the method is according to formula (1); when odd, then according to equation (2)), where i is in imaginary units:
and performing GPU-accelerated inverse discrete Fourier transform on the phase-shifted real signal P to obtain a complex signal I, wherein the complex signal obtained by Hilbert transform is S ═ R + I × (I), and abs represents a modulus of the complex number.
6. A method for synthesizing an ultrasound multi-plane wave composite image with accelerated GPU parallel computing according to claim 4 or 5, wherein in step 3, the DAS algorithm with accelerated GPU parallel computing for realizing composite image synthesis comprises:
carrying out interpolation and delay addition on a complex signal S obtained after Hilbert transformation to obtain a corresponding complex image with low resolution; and carrying out complex addition on the plurality of low-resolution complex images to obtain high-resolution complex images, wherein the complex modulus of the complex images is the finally synthesized B-mode image.
7. The method of claim 6, wherein the interpolation and the delayed addition are performed on the complex signals obtained after the hilbert transform to obtain a corresponding complex image with low resolution, and the method comprises:
calculating emission delay according to a plane wave emission angle, calculating receiving delay according to the spatial relative positions of voxel points and ultrasonic transducers of all channels, wherein the total delay is the sum of the emission delay and the receiving delay, and each channel corresponding to each voxel point can obtain a total delay value;
according to the total delay on each ultrasonic receiving channel corresponding to each voxel point, performing interpolation calculation on a complex signal S corresponding to the channel, and adding complex values acquired by the voxel point on all channels to obtain a complex image with low resolution;
and respectively calculating different emission angles, and repeating the steps according to the emission angles in each calculation to obtain a plurality of low-resolution complex images.
8. A GPU parallel computation accelerated ultrasonic multi-plane wave composite image synthesis system is characterized by comprising:
the ultrasonic module adopts different channels to transmit time delay to different transducer units of the ultrasonic probe, and transmits ultrasonic signals of non-aggregated ultrasonic plane waves to an imaging space region at different transmitting angles; s2, transmitting and reflecting the ultrasonic signals in the tissues, and processing the ultrasonic signals to obtain radio-frequency signals after the ultrasonic probes receive echo signals;
the processor module comprises a CPU, and each radio frequency signal is vectorized by using the CPU;
the processor module comprises a GPU, and the processor module is used for performing Hilbert transform of GPU parallel computation acceleration on the radio frequency signals by using the GPU and realizing composite image synthesis by DAS algorithm of GPU parallel computation acceleration;
and a display module for displaying the synthesized composite image on a display device.
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| CN117710184A (en) * | 2024-01-04 | 2024-03-15 | 浙江大学 | Ultrasonic full-focusing wave number domain imaging method, system and device based on FPGA and GPU |
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| CN112754529A (en) * | 2021-01-08 | 2021-05-07 | 大连东软教育科技集团有限公司 | Ultrasonic plane wave imaging method and system based on frequency domain migration and storage medium |
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| CN104546003A (en) * | 2015-01-27 | 2015-04-29 | 哈尔滨工业大学 | VFR (variable frame rate) color ultra-high speed ultrasonic imaging method based on plane wave transmission |
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